Dual articulation drive system arrangements for articulatable surgical instruments

ABSTRACT

A surgical stapling instrument comprising an elongate shaft assembly that includes a surgical end effector that is operably coupled thereto by an articulation joint. The surgical instrument may include a first distal articulation driver operably coupled to the surgical end effector and a second distal articulation driver that is coupled to the surgical end effector. At least one driver member may operably engage the first and second distal articulation drivers such that when the first distal articulation driver is moved in a distal direction, the least one driver moves the second distal articulation driver in a proximal direction and when the first distal articulation driver is moved in the proximal direction, the at least one driver member moves the second distal articulation driver in the distal direction.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 14/742,885, entitledDUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICALINSTRUMENTS, filed Jun. 18, 2015, now U.S. Patent ApplicationPublication No. 2016/0367246, the entire disclosure of which is herebyincorporated by reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical stapling and cutting instruments and staplecartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jawmembers, wherein each jaw member can be adapted to be inserted into apatient and positioned relative to tissue that is to be stapled and/orincised. In various embodiments, one of the jaw members can support astaple cartridge with at least two laterally spaced rows of staplescontained therein, and the other jaw member can support an anvil withstaple-forming pockets aligned with the rows of staples in the staplecartridge. Generally, the stapling instrument can further include apusher bar and a knife blade which are slidable relative to the jawmembers to sequentially eject the staples from the staple cartridge viacamming surfaces on the pusher bar and/or camming surfaces on a wedgesled that is pushed by the pusher bar. In at least one embodiment, thecamming surfaces can be configured to activate a plurality of stapledrivers carried by the cartridge and associated with the staples inorder to push the staples against the anvil and form laterally spacedrows of deformed staples in the tissue gripped between the jaw members.In at least one embodiment, the knife blade can trail the cammingsurfaces and cut the tissue along a line between the staple rows.

The foregoing discussion is intended only to illustrate various aspectsof the related art in the field of the invention at the time, and shouldnot be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a surgical instrument and an elongateshaft assembly embodiment;

FIG. 2 is an exploded assembly view of the handle or housing portion ofthe surgical instrument of FIG. 1;

FIG. 3 is an exploded assembly view of a portion of an elongate shaftassembly;

FIG. 4 is another exploded assembly view of another portion of theelongate shaft assembly of FIG. 3;

FIG. 5 is an exploded assembly view of a portion of a surgical endeffector embodiment and closure sleeve embodiment;

FIG. 6 is a partial cross-sectional view of a portion of the surgicalend effector and closure sleeve arrangement of FIG. 5;

FIG. 7 is a perspective view of the surgical end effector and closuresleeve arrangement of FIGS. 5 and 6 with the anvil thereof in an openposition or configuration;

FIG. 8 is another perspective view of the surgical end effector andclosure sleeve arrangement of FIGS. 5-7 with the anvil thereof in aclosed position or configuration;

FIG. 9 is a perspective view of a surgical end effector and elongateshaft assembly embodiment with portions thereof omitted for clarity;

FIG. 10 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIG. 9 with the surgical endeffector in an articulated position or configuration;

FIG. 11 is a partial exploded assembly view of portions of the surgicalend effector and elongate shaft assembly embodiment of FIGS. 9 and 10;

FIG. 12 is a top view of portions of the surgical end effector andelongate shaft assembly of FIGS. 9-11;

FIG. 13 is a perspective view of portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 9-12 with the surgicalend effector in an articulated position or configuration;

FIG. 14 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 9-13 with the surgical endeffector in an articulated configuration and with some of the componentsthereof shown in cross-section for clarity;

FIG. 15 is a perspective view of a portion of another elongate shaftassembly embodiment;

FIG. 16 is another perspective view of the elongate shaft assemblyembodiment of FIG. 15 with the closure tube and closure sleevecomponents omitted for clarity;

FIG. 17 is a top view of portions of the elongate shaft assemblyembodiment of FIGS. 15 and 16;

FIG. 18 is a cross-sectional side elevational view of the elongate shaftassembly embodiment of FIGS. 15-17 with a surgical staple cartridgemounted in the surgical end effector portion;

FIG. 19 is another cross-sectional side elevational view of the elongateshaft assembly of FIGS. 15-18 with a surgical staple cartridge mountedin the surgical end effector portion;

FIG. 20 is a top view of portions of the surgical end effector andelongate shaft assembly of FIGS. 15-19 with the surgical end effector inan articulated position or configuration;

FIG. 20A is a side elevational view of a portion of another surgical endeffector and closure sleeve embodiment;

FIG. 21 is a perspective view of another surgical end effector andelongate shaft assembly embodiment with portions thereof omitted forclarity;

FIG. 22 is an exploded assembly view of portions of the surgical endeffector and elongate shaft assembly embodiment of FIG. 21;

FIG. 23 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 21 and 22;

FIG. 24 is another top view of the portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 21-23 with portionsthereof omitted for clarity;

FIG. 25 is another top view of the portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 21-24 with the surgicalend effector in an articulated position or configuration;

FIG. 26 is an exploded perspective view of a portion of another elongateshaft assembly embodiment;

FIG. 27 is an exploded assembly view of portions of another surgical endeffector and elongate shaft assembly embodiment;

FIG. 28 is a partial perspective view of a portion of the elongate shaftassembly embodiment of FIG. 27 with portions thereof omitted forclarity;

FIG. 29 is another partial perspective view of portions of the elongateshaft assembly embodiment of FIGS. 27 and 28 with portions thereofomitted for clarity;

FIG. 30 is another partial perspective view of portions of the elongateshaft assembly embodiment of FIGS. 27-29 with portions thereof omittedfor clarity;

FIG. 31 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 27-30 with portions thereofomitted for clarity;

FIG. 32 is another top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 27-31 with portions thereofomitted for clarity and with the surgical end effector in an articulatedposition or configuration;

FIG. 33 is a side elevational view of portions of the surgical endeffector and elongate shaft assembly embodiment of FIGS. 27-32 withportions thereof omitted for clarity;

FIG. 34 is a perspective view of portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 27-33 with portionsthereof omitted for clarity;

FIG. 35 is another partial perspective view of portions of the surgicalend effector and elongate shaft assembly embodiment of FIGS. 27-34 withportions thereof omitted for clarity;

FIG. 36 is an exploded assembly view of portions of a distal firing beamassembly embodiment and lateral load carrying member embodiments;

FIG. 37 is a perspective view of the distal firing beam assembly andlateral load carrying members of FIG. 36;

FIG. 38 is an enlarged cross-sectional view of portions of the distalfiring beam assembly and lateral load carrying members of FIGS. 36 and37;

FIG. 39 is another cross-sectional view of the distal firing beamassembly and lateral load carrying members of FIGS. 36-38;

FIG. 40 is a side elevational view of a portion of a distal firing beamassembly embodiment attached to a firing member embodiment;

FIG. 41 is a top view of a portion of the distal firing beam assemblyembodiment and firing member embodiment of FIG. 40;

FIG. 42 is a cross-sectional view of a portion of the distal firing beamassembly embodiment of FIGS. 40 and 41 with lateral load carryingmembers journaled thereon and with the distal firing beam assemblyembodiment in a flexed position or configuration;

FIG. 43 is a perspective view of the distal firing beam assemblyembodiment and lateral load carrying embodiments of FIG. 42;

FIG. 44 is a perspective view of portions of another surgical endeffector embodiment and elongate shaft assembly embodiment with portionsthereof omitted for clarity and with the surgical end effector in anarticulated position or configuration;

FIG. 45 is a top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIG. 44;

FIG. 46 is another top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIG. 45 with portions of the pivotlink thereof shown in cross-section;

FIG. 47 is a partial perspective view of portions of another surgicalend effector embodiment and elongate shaft assembly embodiment withportions thereof omitted for clarity;

FIG. 48 is a top view of portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 47 withportions thereof omitted for clarity;

FIG. 49 is another top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIG. 48;

FIG. 50 is a top perspective view of portions of the surgical endeffector embodiment and elongate shaft assembly embodiment of FIGS.47-49 with portions thereof omitted for clarity and the surgical endeffector in an articulated position or configuration;

FIG. 51 is another top perspective view of portions of the surgical endeffector embodiment and elongate shaft assembly embodiment of FIG. 50;

FIG. 52 is an enlarged perspective view of portions of the surgical endeffector embodiment and elongate shaft assembly embodiment of FIG. 51;

FIG. 53 is a top view of portions of another surgical end effectorembodiment and elongate shaft assembly embodiment with portions thereofomitted for clarity and illustrating the surgical end effector in anunarticulated position or configuration and an articulated position orconfiguration;

FIG. 54 is a top view of a portion of the elongate shaft assemblyembodiment of FIG. 53 with the articulation system in a neutral orunarticulated position or configuration and with portions of theelongate shaft assembly omitted for clarity;

FIG. 55 is another top view of a portion of the elongate shaft assemblyembodiment of FIG. 54 with the articulation system in a firstarticulated position or configuration;

FIG. 56 is another top view of a portion of the elongate shaft assemblyembodiment of FIGS. 54 and 55 with the articulation system in a secondarticulated position or configuration;

FIG. 57 is a partial perspective view of other portions of the elongatedshaft assembly embodiment of FIGS. 53-56 and portions of the surgicalend effector embodiment in an unarticulated position or configurationand with portions thereof omitted for clarity;

FIG. 58 is another partial perspective view of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 57 withportions thereof omitted for clarity;

FIG. 59 is a top view of a portion of another elongate shaft assemblyembodiment with portions thereof omitted for clarity;

FIG. 60 is a top view of portions of another articulation systemembodiment in a neutral or unarticulated position;

FIG. 61 is a top view of a driver articulation disc embodiment of thearticulation system of FIG. 60;

FIG. 62 is a top view of a driven articulation disc embodiment of thearticulation system FIG. 60;

FIG. 63 is another top view of the articulation system embodiment ofFIG. 60 in a position or configuration after an articulation controlmotion has been initially applied thereto;

FIG. 64 is another top view of the articulation system embodiment ofFIG. 63 in a first articulated position or configuration;

FIG. 65 is another top view of the articulation system embodiment ofFIGS. 63 and 64 in a second articulated position or configuration;

FIG. 66 is a perspective view of another surgical end effector andclosure sleeve embodiment with the jaws thereof in a closed position orconfiguration;

FIG. 67 is another perspective view of the surgical end effector andclosure sleeve embodiment of FIG. 66 with the jaws thereof in an openposition or configuration;

FIG. 68 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 66 and 67 with the closure sleeveshown in cross-section and the jaws thereof in an open position orconfiguration;

FIG. 69 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 66-68 shown in cross-section and withthe jaws thereof in an open position or configuration;

FIG. 70 is an exploded assembly view of the surgical end effector andclosure sleeve embodiment of FIGS. 66-69;

FIG. 71 is an exploded assembly view of another surgical end effectorand closure sleeve embodiment;

FIG. 72 is a perspective view of another surgical end effector andclosure sleeve embodiment with the jaws thereof in an open position orconfiguration;

FIG. 73 is another perspective view of the surgical end effector andclosure sleeve embodiment of FIG. 72 with the jaws thereof in a closedposition or configuration;

FIG. 74 is an exploded perspective assembly view of the surgical endeffector and closure sleeve embodiment of FIGS. 72 and 73;

FIG. 75 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 72-74 with the jaws thereof in aclosed position or configuration;

FIG. 76 is a rear perspective view of the surgical end effectorembodiment of FIGS. 72-75 with the closure sleeve embodiment thereofshown in phantom lines for clarity;

FIG. 77 is a side cross-sectional view of the surgical end effector andclosure sleeve embodiment of FIGS. 72-76 with the jaws thereof in aclosed position or configuration;

FIG. 78 is another side cross-sectional view including one of the camplates of the surgical end effector and closure sleeve embodiment ofFIGS. 72-77 with the jaws thereof in a closed position or configuration;

FIG. 79 is another side cross-sectional view including one of the camplates of the surgical end effector and closure sleeve embodiment ofFIGS. 72-78 with the jaws thereof in an open position or configuration;

FIG. 80 is a partial perspective view of another surgical end effectorand closure sleeve embodiment with the jaws thereof in an open positionor configuration;

FIG. 81 is a partial perspective view of the surgical end effector andclosure sleeve embodiment of FIG. 80 with the jaws thereof in a closedposition or configuration;

FIG. 82 is an exploded perspective assembly view of the surgical endeffector and closure sleeve embodiment of FIGS. 80 and 81;

FIG. 83 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 80-82 with the jaws thereof in aclosed position or configuration;

FIG. 84 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 80-83 with a portion of the closuresleeve shown in cross-section and with the jaws thereof in an openposition or configuration;

FIG. 85 is an exploded perspective assembly view of another surgical endeffector and closure sleeve embodiment;

FIG. 86 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIG. 85 with the jaws thereof in a closedposition or configuration;

FIG. 87 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 85 and 86 with the jaws thereof in anopen position or configuration with a portion of the closure sleeveshown in cross-section;

FIG. 88 is a perspective view of a portion of another elongate shaftassembly embodiment;

FIG. 89 is another perspective view of the elongate shaft assemblyembodiment of FIG. 88 with some components thereof omitted for clarity;

FIG. 90 is another perspective view of the elongate shaft assembly ofFIGS. 88 and 89 with the surgical end effector in an articulatedposition or configuration;

FIG. 91 is an exploded assembly view of the elongate shaft assembly ofFIGS. 88-90;

FIG. 92 is a top view of the elongate shaft assembly of FIGS. 88-91 withsome components omitted for clarity and the surgical end effectorthereof articulated in one direction;

FIG. 93 is another top view of the elongate shaft assembly of FIGS.88-92 with some components thereof omitted for clarity and with thesurgical end effector articulated in another direction;

FIG. 94 is a perspective view of a surgical staple cartridge embodiment;and

FIG. 95 is a perspective view of another surgical staple cartridgeembodiment.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/742,925, entitled SURGICAL        END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S.        Pat. No. 10,182,818;    -   U.S. patent application Ser. No. 14/742,941, entitled SURGICAL        END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now        U.S. Pat. No. 10,052,102;    -   U.S. patent application Ser. No. 14/742,933, entitled SURGICAL        STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING        FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING,        now U.S. Pat. No. 10,154,841;    -   U.S. patent application Ser. No. 14/742,914, entitled MOVABLE        FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2016/0367255;    -   U.S. patent application Ser. No. 14/742,900, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM        STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION        SUPPORT, now U.S. Patent Application Publication No.        2016/0367254; and    -   U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL        ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,178,992.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/640,746, entitled POWERED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246;    -   U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE        LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2016/0256185;    -   U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE        TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR        MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication        No. 2016/0256154;    -   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID        MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE        TISSUE COMPRESSION, now U.S. Patent Application Publication No.        2016/0256071;    -   U.S. patent application Ser. No. 14/640,831, entitled MONITORING        SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED        SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148;    -   U.S. patent application Ser. No. 14/640,859, entitled TIME        DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY,        CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No.        10,052,044;    -   U.S. patent application Ser. No. 14/640,817, entitled        INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,924,961;    -   U.S. patent application Ser. No. 14/640,844, entitled CONTROL        TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH        SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No.        10,045,776;    -   U.S. patent application Ser. No. 14/640,837, entitled SMART        SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No.        9,993,248;    -   U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR        DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A        SURGICAL STAPLER, now U.S. Patent Application Publication No.        20160256160;    -   U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND        POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now        U.S. Pat. No. 9,901,342; and    -   U.S. patent application Ser. No. 14/640,780, entitled SURGICAL        INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat.        No. 10,245,033.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entireties:

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Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entireties:

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Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

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Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entireties:

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Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER        MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2015/0272582;    -   U.S. patent application Ser. No. 14/226,099, entitled        STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;    -   U.S. patent application Ser. No. 14/226,094, entitled        VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now        U.S. Patent Application Publication No. 2015/0272580;    -   U.S. patent application Ser. No. 14/226,117, entitled POWER        MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE        UP CONTROL, now U.S. Pat. No. 10,013,049;    -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR        POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,        now U.S. Pat. No. 9,743,929;    -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK        ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 10,028,761;    -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL        INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent        Application Publication No. 2015/0272571;    -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL        INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S.        Pat. No. 9,690,362;    -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL        INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No.        9,820,738;    -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE        SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No.        10,004,497;    -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR        SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272557;    -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS        AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat.        No. 9,804,618;    -   U.S. patent application Ser. No. 14/226,076, entitled POWER        MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE        PROTECTION, now U.S. Pat. No. 9,733,663;    -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL        STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and    -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL        INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No.        10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        10,111,679;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Pat. No. 9,724,094;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat.        No. 9,737,301;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR        INTERPRETATION, now U.S. Pat. No. 9,757,128;    -   U.S. patent application Ser. No. 14/479,110, entitled USE OF        POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE,        now U.S. Pat. No. 10,016,199;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat.        No. 10,135,242;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        9,788,836; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Pat. No. 9,826,976;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No.        9,649,110;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE        OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Pat. No.        9,844,368;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication        No. 2014/0309666;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSIONARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,149,680;

-   -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Pat. No. 9,801,626;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLER, now U.S. Pat. No. 9,867,612;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Pat. No. 10,136,887; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich first jaw is pivotable relative to the second jaw. The surgicalstapling system further comprises an articulation joint configured topermit the end effector to be rotated, or articulated, relative to theshaft. The end effector is rotatable about an articulation axisextending through the articulation joint. Other embodiments areenvisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

FIGS. 1-4 depict a motor-driven surgical cutting and fasteninginstrument 10 that may or may not be reused. In the illustratedembodiment, the instrument 10 includes a housing 12 that comprises ahandle 14 that is configured to be grasped, manipulated and actuated bythe clinician. The housing 12 is configured for operable attachment toan elongate shaft assembly 200 that has a surgical end effector 300operably coupled thereto that is configured to perform one or moresurgical tasks or procedures. The elongate shaft assembly 200 may beinterchangeable with other shaft assemblies in the various mannersdisclosed, for example, in U.S. patent application Ser. No. 14/226,075,entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES, now U.S. Pat. No. 9,743,929, the entire disclosure of whichis hereby incorporated by reference herein. In other arrangements, theelongate shaft assembly may not be interchangeable with other shaftassemblies and essentially comprise a dedicated non-removable portion ofthe instrument.

As the present Detailed Description proceeds, it will be understood thatthe various forms of interchangeable shaft assemblies disclosed hereinmay also be effectively employed in connection withrobotically-controlled surgical systems. Thus, the term “housing” mayalso encompass a housing or similar portion of a robotic system thathouses or otherwise operably supports at least one drive system that isconfigured to generate and apply at least one control motion which couldbe used to actuate the elongate shaft assemblies disclosed herein andtheir respective equivalents. The term “frame” may refer to a portion ofa handheld surgical instrument. The term “frame” may also represent aportion of a robotically controlled surgical instrument and/or a portionof the robotic system that may be used to operably control a surgicalinstrument. For example, the shaft assemblies disclosed herein may beemployed with various robotic systems, instruments, components andmethods disclosed in U.S. patent application Ser. No. 13/118,241,entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535 which is hereby incorporatedby reference herein in its entirety.

The housing 12 depicted in FIG. 1 is shown in connection with theelongate shaft assembly 200 that includes a surgical end effector 300that comprises a surgical cutting and fastening device that isconfigured to operably support a surgical staple cartridge 304 therein.The housing 12 may be configured for use in connection with shaftassemblies that include end effectors that are adapted to supportdifferent sizes and types of staple cartridges, have different shaftlengths, sizes, and types, etc. In addition, the housing 12 may also beeffectively employed with a variety of other shaft assemblies includingthose assemblies that are configured to apply other motions and forms ofenergy such as, for example, radio frequency (RF) energy, ultrasonicenergy and/or motion to end effector arrangements adapted for use inconnection with various surgical applications and procedures.Furthermore, the end effectors, shaft assemblies, handles, surgicalinstruments, and/or surgical instrument systems can utilize any suitablefastener, or fasteners, to fasten tissue. For instance, a fastenercartridge comprising a plurality of fasteners removably stored thereincan be removably inserted into and/or attached to the end effector of ashaft assembly.

FIG. 1 illustrates the housing 12 or handle 14 of the surgicalinstrument 10 with an interchangeable elongate shaft assembly 200operably coupled thereto. As can be seen in FIG. 1, the handle 14 maycomprise a pair of interconnectable handle housing segments 16 and 18that may be interconnected by screws, snap features, adhesive, etc. Inthe illustrated arrangement, the handle housing segments 16, 18cooperate to form a pistol grip portion 19 that can be gripped andmanipulated by the clinician. As will be discussed in further detailbelow, the handle 14 operably supports a plurality of drive systemstherein that are configured to generate and apply various controlmotions to corresponding portions of the interchangeable shaft assemblythat is operably attached thereto.

Referring now to FIG. 2, the handle 14 may further include a frame 20that operably supports a plurality of drive systems. For example, theframe 20 can operably support a “first” or closure drive system,generally designated as 30, which may be employed to apply closing andopening motions to the elongate shaft assembly 200 that is operablyattached or coupled thereto. In at least one form, the closure drivesystem 30 may include an actuator in the form of a closure trigger 32that is pivotally supported by the frame 20. More specifically, asillustrated in FIG. 2, the closure trigger 32 is pivotally coupled tothe housing 14 by a pin 33. Such arrangement enables the closure trigger32 to be manipulated by a clinician such that when the clinician gripsthe pistol grip portion 19 of the handle 14, the closure trigger 32 maybe easily pivoted from a starting or “unactuated” position to an“actuated” position and more particularly to a fully compressed or fullyactuated position. The closure trigger 32 may be biased into theunactuated position by spring or other biasing arrangement (not shown).In various forms, the closure drive system 30 further includes a closurelinkage assembly 34 that is pivotally coupled to the closure trigger 32.As can be seen in FIG. 2, the closure linkage assembly 34 may include afirst closure link 36 and a second closure link 38 that are pivotallycoupled to the closure trigger 32 by a pin 35. The second closure link38 may also be referred to herein as an “attachment member” and includea transverse attachment pin 37.

Still referring to FIG. 2, it can be observed that the first closurelink 36 may have a locking wall or end 39 thereon that is configured tocooperate with a closure release assembly 60 that is pivotally coupledto the frame 20. In at least one form, the closure release assembly 60may comprise a release button assembly 62 that has a distally protrudinglocking pawl 64 formed thereon. The release button assembly 62 may bepivoted in a counterclockwise direction by a release spring (not shown).As the clinician depresses the closure trigger 32 from its unactuatedposition towards the pistol grip portion 19 of the handle 14, the firstclosure link 36 pivots upward to a point wherein the locking pawl 64drops into retaining engagement with the locking wall 39 on the firstclosure link 36 thereby preventing the closure trigger 32 from returningto the unactuated position. Thus, the closure release assembly 60 servesto lock the closure trigger 32 in the fully actuated position. When theclinician desires to unlock the closure trigger 32 to permit it to bebiased to the unactuated position, the clinician simply pivots theclosure release button assembly 62 such that the locking pawl 64 ismoved out of engagement with the locking wall 39 on the first closurelink 36. When the locking pawl 64 has been moved out of engagement withthe first closure link 36, the closure trigger 32 may pivot back to theunactuated position. Other closure trigger locking and releasearrangements may also be employed.

When the closure trigger 32 is moved from its unactuated position to itsactuated position, the closure release button 62 is pivoted between afirst position and a second position. The rotation of the closurerelease button 62 can be referred to as being an upward rotation;however, at least a portion of the closure release button 62 is beingrotated toward the circuit board 100. Still referring to FIG. 2, theclosure release button 62 can include an arm 61 extending therefrom anda magnetic element 63, such as a permanent magnet, for example, mountedto the arm 61. When the closure release button 62 is rotated from itsfirst position to its second position, the magnetic element 63 can movetoward the circuit board 100. The circuit board 100 can include at leastone sensor that is configured to detect the movement of the magneticelement 63. In at least one embodiment, a “Hall effect” sensor can bemounted to the bottom surface of the circuit board 100. The Hall effectsensor can be configured to detect changes in a magnetic fieldsurrounding the Hall effect sensor that are caused by the movement ofthe magnetic element 63. The Hall effect sensor can be in signalcommunication with a microcontroller, for example, which can determinewhether the closure release button 62 is in its first position, which isassociated with the unactuated position of the closure trigger 32 andthe open configuration of the end effector, its second position, whichis associated with the actuated position of the closure trigger 32 andthe closed configuration of the end effector, and/or any positionbetween the first position and the second position.

Also in the illustrated arrangement, the handle 14 and the frame 20operably support another drive system referred to herein as a firingdrive system 80 that is configured to apply firing motions tocorresponding portions of the interchangeable shaft assembly attachedthereto. The firing drive system may 80 also be referred to herein as a“second drive system”. The firing drive system 80 may employ an electricmotor 82, located in the pistol grip portion 19 of the handle 14. Invarious forms, the motor 82 may be a DC brushed driving motor having amaximum rotation of, approximately, 25,000 RPM, for example. In otherarrangements, the motor may include a brushless motor, a cordless motor,a synchronous motor, a stepper motor, or any other suitable electricmotor. The motor 82 may be powered by a power source 90 that in one formmay comprise a removable power pack 92. As can be seen in FIG. 2, forexample, the power pack 92 may comprise a proximal housing portion 94that is configured for attachment to a distal housing portion 96. Theproximal housing portion 94 and the distal housing portion 96 areconfigured to operably support a plurality of batteries 98 therein.Batteries 98 may each comprise, for example, a Lithium Ion (“LI”) orother suitable battery. The distal housing portion 96 is configured forremovable operable attachment to a control circuit board assembly 100which is also operably coupled to the motor 82. A number of batteries 98may be connected in series may be used as the power source for thesurgical instrument 10. In addition, the power source 90 may bereplaceable and/or rechargeable.

As outlined above with respect to other various forms, the electricmotor 82 includes a rotatable shaft (not shown) that operably interfaceswith a gear reducer assembly 84 that is mounted in meshing engagementwith a with a set, or rack, of drive teeth 122 on alongitudinally-movable drive member 120. In use, a voltage polarityprovided by the power source 90 can operate the electric motor 82 in aclockwise direction wherein the voltage polarity applied to the electricmotor by the battery can be reversed in order to operate the electricmotor 82 in a counter-clockwise direction. When the electric motor 82 isrotated in one direction, the drive member 120 will be axially driven inthe distal direction “DD”. When the motor 82 is driven in the oppositerotary direction, the drive member 120 will be axially driven in aproximal direction “PD”. The handle 14 can include a switch which can beconfigured to reverse the polarity applied to the electric motor 82 bythe power source 90. As with the other forms described herein, thehandle 14 can also include a sensor that is configured to detect theposition of the drive member 120 and/or the direction in which the drivemember 120 is being moved.

Actuation of the motor 82 is controlled by a firing trigger 130 that ispivotally supported on the handle 14. The firing trigger 130 may bepivoted between an unactuated position and an actuated position. Thefiring trigger 130 may be biased into the unactuated position by aspring 132 or other biasing arrangement such that when the clinicianreleases the firing trigger 130, it may be pivoted or otherwise returnedto the unactuated position by the spring 132 or biasing arrangement. Inat least one form, the firing trigger 130 can be positioned “outboard”of the closure trigger 32 as was discussed above. In at least one form,a firing trigger safety button 134 may be pivotally mounted to theclosure trigger 32 by pin 35. The safety button 134 may be positionedbetween the firing trigger 130 and the closure trigger 32 and have apivot arm 136 protruding therefrom. See FIG. 2. When the closure trigger32 is in the unactuated position, the safety button 134 is contained inthe handle 14 where the clinician cannot readily access it and move itbetween a safety position preventing actuation of the firing trigger 130and a firing position wherein the firing trigger 130 may be fired. Asthe clinician depresses the closure trigger 32, the safety button 134and the firing trigger 130 pivot down wherein they can then bemanipulated by the clinician.

As discussed above, the handle 14 includes a closure trigger 32 and afiring trigger 130. The firing trigger 130 can be pivotably mounted tothe closure trigger 32. When the closure trigger 32 is moved from itsunactuated position to its actuated position, the firing trigger 130 candescend downwardly, as outlined above. After the safety button 134 hasbeen moved to its firing position, the firing trigger 130 can bedepressed to operate the motor of the surgical instrument firing system.In various instances, the handle 14 can include a tracking systemconfigured to determine the position of the closure trigger 32 and/orthe position of the firing trigger 130.

As indicated above, in at least one form, the longitudinally movabledrive member 120 has a rack of drive teeth 122 formed thereon formeshing engagement with a corresponding drive gear 86 of the gearreducer assembly 84. At least one form also includes amanually-actuatable “bailout” assembly 140 that is configured to enablethe clinician to manually retract the longitudinally movable drivemember 120 should the motor 82 become disabled. The bailout assembly 140may include a lever or bailout handle assembly 142 that is configured tobe manually pivoted into ratcheting engagement with teeth 124 alsoprovided in the drive member 120. Thus, the clinician can manuallyretract the drive member 120 by using the bailout handle assembly 142 toratchet the drive member 120 in the proximal direction “PD”. U.S. PatentApplication Publication No. 2010/0089970 discloses bailout arrangementsand other components, arrangements and systems that may also be employedwith the various instruments disclosed herein. U.S. patent applicationSer. No. 12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLINGAPPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Pat. No.8,608,045, is hereby incorporated by reference in its entirety.

Turning now to FIGS. 1 and 3, the elongate shaft assembly 200 includes asurgical end effector 300 that comprises an elongate channel 302 that isconfigured to operably support a staple cartridge 304 therein. The endeffector 300 may further include an anvil 310 that is pivotallysupported relative to the elongate channel 302. As will be discussed infurther detail below, the surgical end effector 300 may be articulatedrelative to the elongate shaft assembly about an articulation joint 270.As can be seen in FIGS. 3 and 4, the shaft assembly 200 can furtherinclude a proximal housing or nozzle 201 comprised of nozzle portions202 and 203. The shaft assembly 200 further includes a closure tube 260which can be utilized to close and/or open an anvil 310 of the endeffector 300. As can be seen in FIG. 4, the shaft assembly 200 includesa spine 210 which can be configured to fixably support a shaft frameportion 212 of and articulation lock 350. Details regarding theconstruction and operation of the articulation lock 350 are set forth inU.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541, the disclosure of which ishereby incorporated by reference herein in its entirety. The spine 210is configured to, one, slidably support a firing member 220 therein and,two, slidably support the closure tube 260 which extends around thespine 210. The spine 210 also slidably supports a proximal articulationdriver 230. The proximal articulation driver 230 has a distal end 231that is configured to operably engage the articulation lock 350. In onearrangement, the articulation lock 350 interfaces with an articulationframe 352 that is adapted to operably engage a drive pin (not shown) onthe end effector frame (not shown).

In the illustrated arrangement, the spine 210 comprises a proximal end211 which is rotatably supported in a chassis 240. In one arrangement,for example, the proximal end 211 of the spine 210 has a thread 214formed thereon for threaded attachment to a spine bearing 216 configuredto be supported within the chassis 240. See FIG. 3. Such arrangementfacilitates rotatable attachment of the spine 210 to the chassis 240such that the spine 210 may be selectively rotated about a shaft axisSA-SA relative to the chassis 240. The shaft assembly 200 also includesa closure shuttle 250 that is slidably supported within the chassis 240such that it may be axially moved relative thereto. As can be seen inFIG. 3, the closure shuttle 250 includes a pair of proximally-protrudinghooks 252 that are configured for attachment to the attachment pin 37that is attached to the second closure link 38 as will be discussed infurther detail below. See FIG. 2. A proximal end 261 of the closure tube260 is coupled to the closure shuttle 250 for relative rotation thereto.For example, a U-shaped connector 263 is inserted into an annular slot262 in the proximal end 261 of the closure tube 260 and is retainedwithin vertical slots 253 in the closure shuttle 250. See FIG. 3. Sucharrangement serves to attach the closure tube 260 to the closure shuttle250 for axial travel therewith while enabling the closure tube 260 torotate relative to the closure shuttle 250 about the shaft axis SA-SA. Aclosure spring 268 is journaled on the closure tube 260 and serves tobias the closure tube 260 in the proximal direction “PD” which can serveto pivot the closure trigger into the unactuated position when the shaftassembly 200 is operably coupled to the handle 14.

As was also indicated above, the elongate shaft assembly 200 furtherincludes a firing member 220 that is supported for axial travel withinthe shaft spine 210. The firing member 220 includes an intermediatefiring shaft portion 222 that is configured for attachment to a distalcutting portion or firing beam 280. The firing member 220 may also bereferred to herein as a “second shaft” and/or a “second shaft assembly”.As can be seen in FIG. 4, the intermediate firing shaft portion 222 mayinclude a longitudinal slot 223 in the distal end thereof which can beconfigured to receive a tab 284 on the proximal end 282 of the distalfiring beam 280. The longitudinal slot 223 and the proximal end 282 canbe sized and configured to permit relative movement therebetween and cancomprise a slip joint 286. The slip joint 286 can permit theintermediate firing shaft portion 222 of the firing drive 220 to bemoved to articulate the surgical end effector 300 without moving, or atleast substantially moving, the firing beam 280. Once the surgical endeffector 300 has been suitably oriented, the intermediate firing shaftportion 222 can be advanced distally until a proximal sidewall of thelongitudinal slot 223 comes into contact with the tab 284 in order toadvance the firing beam 280 and fire a staple cartridge that may besupported in the end effector 300. As can be further seen in FIG. 4, theshaft spine 210 has an elongate opening or window 213 therein tofacilitate assembly and insertion of the intermediate firing shaftportion 222 into the shaft frame 210. Once the intermediate firing shaftportion 222 has been inserted therein, a top frame segment 215 may beengaged with the shaft frame 212 to enclose the intermediate firingshaft portion 222 and firing beam 280 therein. Further description ofthe operation of the firing member 220 may be found in U.S. patentapplication Ser. No. 13/803,086, now U.S. Patent Application PublicationNo. 2014/0263541.

Further to the above, the illustrated shaft assembly 200 includes aclutch assembly 400 which can be configured to selectively andreleasably couple the articulation driver 230 to the firing member 220.In one form, the clutch assembly 400 includes a lock collar, or sleeve402, positioned around the firing member 220 wherein the lock sleeve 402can be rotated between an engaged position in which the lock sleeve 402couples the articulation driver 360 to the firing member 220 and adisengaged position in which the articulation driver 360 is not operablycoupled to the firing member 200. When lock sleeve 402 is in its engagedposition, distal movement of the firing member 220 can move thearticulation driver 360 distally and, correspondingly, proximal movementof the firing member 220 can move the proximal articulation driver 230proximally. When lock sleeve 402 is in its disengaged position, movementof the firing member 220 is not transmitted to the proximal articulationdriver 230 and, as a result, the firing member 220 can moveindependently of the proximal articulation driver 230. In variouscircumstances, the proximal articulation driver 230 can be held inposition by the articulation lock 350 when the proximal articulationdriver 230 is not being moved in the proximal or distal directions bythe firing member 220.

As can be further seen in FIG. 4, the lock sleeve 402 can comprise acylindrical, or an at least substantially cylindrical, body including alongitudinal aperture 403 defined therein configured to receive thefiring member 220. The lock sleeve 402 can comprisediametrically-opposed, inwardly-facing lock protrusions 404 and anoutwardly-facing lock member 406. The lock protrusions 404 can beconfigured to be selectively engaged with the firing member 220. Moreparticularly, when the lock sleeve 402 is in its engaged position, thelock protrusions 404 are positioned within a drive notch 224 defined inthe firing member 220 such that a distal pushing force and/or a proximalpulling force can be transmitted from the firing member 220 to the locksleeve 402. When the lock sleeve 402 is in its engaged position, asecond lock member 406 is received within a drive notch 232 defined inthe proximal articulation driver 230 such that the distal pushing forceand/or the proximal pulling force applied to the lock sleeve 402 can betransmitted to the proximal articulation driver 230. In effect, thefiring member 220, the lock sleeve 402, and the proximal articulationdriver 230 will move together when the lock sleeve 402 is in its engagedposition. On the other hand, when the lock sleeve 402 is in itsdisengaged position, the lock protrusions 404 may not be positionedwithin the drive notch 224 of the firing member 220 and, as a result, adistal pushing force and/or a proximal pulling force may not betransmitted from the firing member 220 to the lock sleeve 402.Correspondingly, the distal pushing force and/or the proximal pullingforce may not be transmitted to the proximal articulation driver 230. Insuch circumstances, the firing member 220 can be slid proximally and/ordistally relative to the lock sleeve 402 and the proximal articulationdriver 230.

As can also be seen in FIG. 4, the elongate shaft assembly 200 furtherincludes a switch drum 500 that is rotatably received on the closuretube 260. The switch drum 500 comprises a hollow shaft segment 502 thathas a shaft boss 504 formed thereon for receive an outwardly protrudingactuation pin 410 therein. In various circumstances, the actuation pin410 extends through a slot 267 into a longitudinal slot 408 provided inthe lock sleeve 402 to facilitate axial movement of the lock sleeve 402when it is engaged with the proximal articulation driver 230. A rotarytorsion spring 420 is configured to engage the shaft boss 504 on theswitch drum 500 and a portion of the nozzle housing 203 to apply abiasing force to the switch drum 500. The switch drum 500 can furthercomprise at least partially circumferential openings 506 defined thereinwhich, referring to FIGS. 5 and 6, can be configured to receivecircumferential mounts extending from the nozzle portions 202, 203 andpermit relative rotation, but not translation, between the switch drum500 and the proximal nozzle 201. The mounts also extend through openings266 in the closure tube 260 to be seated in recesses n the shaft spine210. However, rotation of the nozzle 201 to a point where the mountsreach the end of their respective slots 506 in the switch drum 500 willresult in rotation of the switch drum 500 about the shaft axis SA-SA.Rotation of the switch drum 500 will ultimately result in the rotationof the actuation pin 410 and the lock sleeve 402 between its engaged anddisengaged positions. Thus, in essence, the nozzle 201 may be employedto operably engage and disengage the articulation drive system with thefiring drive system in the various manners described in further detailin U.S. patent application Ser. No. 13/803,086, now U.S. PatentApplication Publication No. 2014/0263541.

As also illustrated in FIGS. 3 and 4, the elongate shaft assembly 200can comprise a slip ring assembly 600 which can be configured to conductelectrical power to and/or from the end effector 300 and/or communicatesignals to and/or from the surgical end effector 300, for example. Theslip ring assembly 600 can comprise a proximal connector flange 604mounted to a chassis flange 242 extending from the chassis 240 and adistal connector flange 601 positioned within a slot defined in theshaft housings 202, 203. The proximal connector flange 604 can comprisea first face and the distal connector flange 601 can comprise a secondface which is positioned adjacent to and movable relative to the firstface. The distal connector flange 601 can rotate relative to theproximal connector flange 604 about the shaft axis SA-SA. The proximalconnector flange 604 can comprise a plurality of concentric, or at leastsubstantially concentric, conductors 602 defined in the first facethereof. A connector 607 can be mounted on the proximal side of thedistal connector flange 601 and may have a plurality of contacts (notshown) wherein each contact corresponds to and is in electrical contactwith one of the conductors 602. Such arrangement permits relativerotation between the proximal connector flange 604 and the distalconnector flange 601 while maintaining electrical contact therebetween.The proximal connector flange 604 can include an electrical connector606 which can place the conductors 602 in signal communication with ashaft circuit board 610 mounted to the shaft chassis 240, for example.In at least one instance, a wiring harness comprising a plurality ofconductors can extend between the electrical connector 606 and the shaftcircuit board 610. The electrical connector 606 may extend proximallythrough a connector opening 243 defined in the chassis mounting flange242. See FIG. 7. U.S. patent application Ser. No. 13/800,067, entitledSTAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013,now U.S. Patent Application Publication No. 2014/0263552, isincorporated by reference herein in its entirety. U.S. patentapplication Ser. No. 13/800,025, entitled STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Pat. No.9,345,481 is incorporated by reference herein in its entirety. Furtherdetails regarding slip ring assembly 600 may be found in U.S. patentapplication Ser. No. 13/803,086, now U.S. Patent Application PublicationNo. 2014/0263541.

As discussed above, the elongate shaft assembly 200 can include aproximal portion which is fixably mounted to the handle 14 and a distalportion which is rotatable about a longitudinal shaft axis SA-SA. Therotatable distal shaft portion can be rotated relative to the proximalportion about the slip ring assembly 600, as discussed above. The distalconnector flange 601 of the slip ring assembly 600 can be positionedwithin the rotatable distal shaft portion. Moreover, further to theabove, the switch drum 500 can also be positioned within the rotatabledistal shaft portion. When the rotatable distal shaft portion isrotated, the distal connector flange 601 and the switch drum 500 can berotated synchronously with one another. In addition, the switch drum 500can be rotated between a first position and a second position relativeto the distal connector flange 601. When the switch drum 500 is in itsfirst position, the articulation drive system (i.e., the proximalarticulation driver 230) may be operably disengaged from the firingdrive system and, thus, the operation of the firing drive system may notarticulate the end effector 300 of the shaft assembly 200. When theswitch drum 500 is in its second position, the articulation drive system(i.e., the proximal articulation driver 230) may be operably engagedwith the firing drive system and, thus, the operation of the firingdrive system may articulate the end effector 300 of the shaft assembly200. When the switch drum 500 is moved between its first position andits second position, the switch drum 500 is moved relative to distalconnector flange 601. In various instances, the shaft assembly 200 cancomprise at least one sensor that is configured to detect the positionof the switch drum 500.

Referring again to FIG. 4, the closure tube assembly 260 includes adouble pivot closure sleeve assembly 271. According to various forms,the double pivot closure sleeve assembly 271 includes an end effectorclosure sleeve 272 that includes upper and lower distally projectingtangs 273, 274. An upper double pivot link 277 includes upwardlyprojecting distal and proximal pivot pins that engage respectively anupper distal pin hole in the upper proximally projecting tang 273 and anupper proximal pin hole in an upper distally projecting tang 264 on theclosure tube 260. A lower double pivot link 278 includes upwardlyprojecting distal and proximal pivot pins that engage respectively alower distal pin hole in the lower proximally projecting tang 274 and alower proximal pin hole in the lower distally projecting tang 265. Seealso FIG. 6.

FIGS. 5-8 illustrate one form of surgical end effector 300 that isconfigured to be operably attached to an elongate shaft assembly of asurgical instrument of the type described above or other surgicalinstrument arrangements that include a closure system that is configuredto generate control motions for axially moving a closure member that isconfigured to apply closing and opening motions to portions of thesurgical end effector. In the illustrated example, as will be discussedin further detail below, the surgical end effector is configured to bearticulated relative to a proximal portion of the elongate shaftassembly about an articulation joint, generally designated as 339. Otherarrangements, however, may not be capable of articulation. As can beseen in FIG. 6, the articulation joint 339 defines an articulation axisB-B about which the surgical end effector 300 may be selectivelyarticulated. In the illustrated example, the articulation axis B-B issubstantially transverse to the shaft axis SA-SA of the elongate shaftassembly.

The illustrated surgical end effector 300 includes a first jaw 308 and asecond jaw 309 that is selectively movable relative to the first jaw 308between an open position (FIG. 7) and various closed positions (FIG. 8).In the illustrated embodiment, the first jaw 308 comprises an elongatechannel 302 that is configured to operably support a surgical staplecartridge 304 therein and the second jaw 309 comprises an anvil 310.However, other surgical jaw arrangements may be employed withoutdeparting from the spirit and scope of the present invention. As can beseen in FIG. 5, a support pan 305 may be attached to the surgical staplecartridge 304 to provide added support thereto as well as to prevent thestaple drivers (not shown) that are supported in the staple pockets 306that are formed in the surgical staple cartridge 304 from falling out ofthe surgical staple cartridge prior to use. As can be seen in FIG. 5,the elongate channel 302 has a proximal end portion 320 that includestwo upstanding lateral walls 322. The anvil 310 includes an anvil body312 that has a staple-forming undersurface 313 formed thereon. Aproximal end 314 of the anvil body is bifurcated by a firing member slot315 that defines a pair of anvil attachment arms 316. Each anvilattachment arm 316 includes a sloping upper surface 321 and includes alaterally protruding anvil trunnion 317 and a cam slot 318 that definesa cam surface or “slotted cam surface” 319. See FIG. 5. One of the camslots 318 may be referred to herein as a “first cam slot” with the camsurface thereof being referred to as the “first cam surface”. Similarly,the other cam slot 318 may be referred to as a “second cam slot” withthe cam surface thereof being referred to herein as the “second camsurface”. A trunnion hole 324 is provided in each lateral wall 322 ofthe elongate channel 302 for receiving a corresponding one of the anviltrunnions 317 therein. Such arrangement serves to movably affix theanvil 310 to the elongate channel 302 for selective pivotable travelabout an anvil axis A-A that is defined by trunnion holes 324 and whichis transverse to the shaft axis SA-SA. See FIG. 6.

In the illustrated arrangement, the anvil 310 is pivotally movedrelative to the elongate channel 302 and the surgical staple cartridge304 supported therein to an open position by a pair of opening cams 354that may be removably supported in or removably attached to orpermanently attached to or integrally formed in an anvil actuatormember. In the illustrated embodiment, the anvil actuator membercomprises the end effector closure sleeve 272. See FIG. 5. Each openingcam 354 includes an outer body portion 356 that has a cam tab 358protruding inwardly therefrom. The outer body portion 356 is, in atleast one arrangement, configured to be snapped into removableengagement within a corresponding cam hole 355 formed in the endeffector closure sleeve 272. For example, the outer body portion 356 mayinclude a chamfered stop portion 357 that is configured to snappinglyengage a corresponding portion of the end effector closure sleeve wallthat defines the cam hole 355. Another portion of the outer body portion356 may have a dog leg feature 359 formed thereon that is configured tobe received inside a portion of the end effector closure sleeve 272adjacent the cam hole 355. Other snap tab arrangements may also beemployed to removably affix the outer body portion 356 to the endeffector closure sleeve 272. In other arrangements, for example, theouter body portion may not be configured for snapping engagement withthe end effector closure sleeve 272. In such arrangements, the outerbody portions may be retained in position by an annular crimp ring thatextends around the outer circumference of the end effector closuresleeve over the outer body portions of the opening cams and be crimpedin place. The crimp ring serves to trap the outer body portions againstthe outer surface of the end effector closure sleeve. To provide the endeffector closure sleeve with a relatively smooth or uninterrupted outersurface which may advantageously avoid damage to adjacent tissue and/orcollection of tissue/fluid etc. between those components, the crimp ringmay actually be crimped into an annular recess that is formed in the endeffector closure sleeve.

When the opening cams 350 are installed in the end effector closuresleeve 272, each cam tab 358 extends through an elongate slot 326 in thecorresponding lateral wall 322 of the elongate channel 302 to bereceived in a corresponding cam slot 318 in the anvil 310. See FIG. 6.In such arrangement, the opening cams 350 are diametrically opposite ofeach other in the end effector closure sleeve. In use, the closure tube260 is translated distally (direction “DD”) to close the anvil 310, forexample, in response to the actuation of the closure trigger 32. Theanvil 310 is closed as the closure tube 260 is translated in the distaldirection “DD” so as to bring the distal end 275 of the of end effectorclosure sleeve 272 into contact with a closure lip 311 on the anvil body312. In particular, the distal end 275 of the end effector closuresleeve 272 rides on the upper surfaces 321 of the anvil attachment arms316 as the closure tube 260 is moved distally to begin to pivot theanvil 310 to a closed position. In one arrangement for example, closureof the anvil 310 is solely caused by contact of the end effector closuresleeve 272 with the anvil 310 and is not caused by the interaction ofthe opening cams with the anvil. In other arrangements, however, theopening cams could be arranged to also apply closing motions to theanvil as the closure tube 260 is moved distally. The anvil 310 is openedby proximally translating the closure tube 260 in the proximal direction“PD” which causes the cam tabs 358 to move in the proximal direction“PD” within the cam slots 318 on the cam surfaces 319 to pivot the anvil310 into the open position as shown in FIGS. 6 and 7.

The surgical end effector embodiment 300 employs two opening cams toeffect positive opening of the end effector jaws, even when under aload. Other arrangements could conceivably employ only one opening camor more than two opening cams without departing from the spirit andscope of the present invention. In the illustrated example, the openingcams are removably affixed to the end effector closure sleeve whichfacilitates easy assembly or attachment of the surgical end effectorcomponents to the elongate shaft assembly as well as disassemblythereof. Such configurations also enable the use of more compact orshorter articulation joint arrangements which further facilitate bettermanipulation of the surgical end effector within the confined spacesinside of a patient. To facilitate easy detachment of those opening camsthat are snapped in place, additional strategically placed holes may beprovided in the end effector closure sleeve to enable a pry member to beinserted therethrough to pry the opening cams out of the end effectorclosure sleeve. In still other arrangements, the opening cam(s) may beintegrally formed in the anvil actuator member or end effector closuresleeve. For example, the opening cam(s) may each comprise a tab that iscut into or otherwise formed into the wall of the anvil actuator memberor end effector closure sleeve and then bent, crimped or permanentlydeformed inward so as to engage the corresponding cam surface on thesecond jaw. For example, the tab may be bent inward at ninety degreesrelative to the outer wall of the end effector closure sleeve. Sucharrangements avoid the need for separate opening cam components. Othervariations may employ a pin or pins that are attached to the second jawand configured to ride on corresponding cam surfaces on the first jaw.The pin or pins may be pressed into the first jaw, knurled and thenpressed in and/or welded to the first jaw, for example. While theopening cam arrangements discussed above have been described in thecontext of a surgical end effector that is configured to support asurgical staple cartridge and includes an anvil that is configured tomove relative to the surgical staple cartridge, the reader willappreciate that the opening cam arrangements may also be employed withother end effector arrangements that have jaw(s) that are movablerelative to each other.

FIGS. 9 and 10 illustrate an elongate shaft assembly designated as 200′that employs many of the features of elongate shaft assembly 200described above. In the illustrated example, the elongate shaft assembly200′ includes a dual articulation link arrangement designated as 800that employs an articulation lock 810 that is similar to articulationlock 350 described above. Those components of articulation lock 810 thatdiffer from the components of articulation lock 350 and which may benecessary to understand the operation of articulation lock 350 will bediscussed in further detail below. Further details regardingarticulation lock 350 may be found in U.S. patent application Ser. No.13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING ANARTICULATION LOCK, now U.S. Patent Application Publication No.2014/0263541, the entire disclosure of which is hereby incorporated byreference herein. The articulation lock 810 can be configured andoperated to selectively lock the surgical end effector 300 in variousarticulated positions. Such arrangement enables the surgical endeffector 300 to be rotated, or articulated, relative to the shaftclosure tube 260 when the articulation lock 810 is in its unlockedstate.

As was discussed above, when the proximal articulation driver 230 isoperatively engaged with the firing member 220 via the clutch system400, the firing member 220 can move the proximal articulation driver 230proximally and/or distally. For instance, proximal movement of thefiring member 220 can move the proximal articulation driver 230proximally and, similarly, distal movement of the firing member 220 canmove the proximal articulation driver 230 distally. Movement of theproximal articulation driver 230, whether it be proximal or distal, canunlock the articulation lock 810, as described in greater detail furtherbelow. As can be seen in FIG. 9 for example, the elongate shaft assembly200′ includes a shaft frame 812 which is somewhat co-extensive with afirst distal articulation driver 820. A first distal articulation driver820 is supported within the elongate shaft assembly 200′ for selectivelongitudinal travel in a distal direction “DD” and a proximal direction“PD” in response to corresponding articulation control motions appliedthereto. The shaft frame 812 includes a distal end portion 814 that hasa downwardly protruding pivot pin (not shown) thereon that is adapted tobe pivotally received within a pivot hole 328 formed in the proximal endportion 320 of the elongate channel 302. See, for example, the similararrangement depicted in FIG. 5. Such arrangement facilitates pivotaltravel of the elongate channel 302 of the surgical end effector 300relative to the shaft frame 812 about an articulation axis B-B that isdefined by the pivot hole 328. As indicated above, the articulation axisB-B is transverse to the shaft axis SA-SA that is defined by elongateshaft assembly 200′.

Referring again to FIG. 9, the first distal articulation driver 820includes a first, or distal, lock cavity 822 and a second, or proximal,lock cavity 824, wherein the first lock cavity 822 and the second lockcavity 824 can be separated by an intermediate frame member 825. Thearticulation lock 810 can further include at least one first lockelement 826 at least partially positioned within the first lock cavity822 which can be configured to inhibit or prevent the proximal movementof the first distal articulation driver 820. In the embodimentillustrated in FIG. 9, for example, there are three first lock elements826 positioned within the first lock cavity 822 which can all act in asimilar, parallel manner and can co-operatively act as a single lockelement. Other embodiments are envisioned which can utilize more thanthree or less than three first lock elements 826. Similarly, thearticulation lock 810 can further include at least one second lockelement 828 at least partially positioned within the second lock cavity824 which can be configured to inhibit or prevent the distal movement ofthe first distal articulation driver 820. Wth regard to the particularembodiment illustrated in FIG. 9, there are three second lock elements828 positioned within the second lock cavity 824 which can all act in asimilar, parallel manner and can co-operatively act as a single lockelement. Other embodiments are envisioned which can utilize more thanthree or less than three second lock elements 828.

Further to the above, referring primarily to FIG. 9, each first lockelement 826 is slidably supported on a frame rail 830 and includes alock tang 827. Each of the first lock elements 826 have a lock aperturetherein (not shown) for receiving the frame rail 830 therethrough. Thelock tang 827 can be disposed within the first lock cavity 822 and thelock aperture can be slidably engaged with a frame rail 830 mounted tothe shaft frame 812. The first lock elements 826 are not oriented in aperpendicular arrangement with the frame rail 830; rather, the firstlock elements 826 are arranged and aligned at a non-perpendicular anglewith respect to the frame rail 830 such that the edges or sidewalls ofthe lock apertures are engaged with the frame rail 830. Moreover, theinteraction between the sidewalls of the lock apertures and the framerail 830 can create a resistive or friction force therebetween which caninhibit relative movement between the first lock elements 826 and theframe rail 830 and, as a result, resist a proximal pushing force Papplied to the first distal articulation driver 820. Stated another way,the first lock elements 826 can prevent or at least inhibit the surgicalend effector 300 from rotating in a direction indicated by arrow 821. Ifa torque is applied to the end effector 300 in the direction of arrow821, a proximal pushing force P will be transmitted to the distalarticulation driver 820. The proximal pushing force P will only serve tobolster the locking engagement between the first lock elements 826 andthe frame rail 830. More particularly, the proximal pushing force P canbe transmitted to the tangs 827 of the first lock elements 826 which cancause the first lock elements 826 to rotate and decrease the angledefined between first lock elements 826 and the frame rail 830 and, as aresult, increase the bite between the sidewalls of the lock aperturesand the frame rail 830. Ultimately, then, the first lock elements 826can lock the movement of the first distal articulation driver 820 in onedirection.

To release the first lock elements 826 and permit the surgical endeffector 300 to be rotated in the direction indicated by arrow 821, theproximal articulation driver 230 can be pulled proximally to straighten,or at least substantially straighten, the first lock elements 826 into aperpendicular, or at least substantially perpendicular, position. Insuch a position, the bite, or resistive force, between the sidewalls ofthe lock apertures and the frame rail 830 can be sufficiently reduced,or eliminated, such that the first distal articulation driver 820 can bemoved proximally. To straighten the first lock elements 826, theproximal articulation driver 230 can be pulled proximally such that adistal arm 233 of the proximal articulation driver 230 contacts thefirst lock elements 826 to pull and rotate the first lock elements 826into their straightened position. In various circumstances, the proximalarticulation driver 230 can continue to be pulled proximally until aproximal arm 235 extending therefrom contacts, or abuts, a proximaldrive wall 832 of the first distal articulation driver 820 and pulls thedistal articulation driver 820 proximally to articulate the surgical endeffector 300. In essence, a proximal pulling force can be applied fromthe proximal articulation driver 230 to the distal articulation driver820 through the interaction between the proximal arm 235 and theproximal drive wall 832 wherein such a pulling force can be transmittedthrough the first distal drive member 820 to the end effector 300 aswill be further discussed below to articulate the end effector 300 inthe direction indicated by arrow 821. After the surgical end effector300 has been suitably articulated in the direction of arrow 821, thefirst distal articulation driver 820 can be released, in variouscircumstances, to permit the articulation lock 810 to re-lock the firstdistal articulation driver 820, and the surgical end effector 300, inposition.

Concurrent to the above, referring again to FIG. 9, the second lockelements 828 can remain in an angled position while the first lockelements 826 are locked and unlocked as described above. The reader willappreciate that, although the second lock elements 828 are arranged andaligned in an angled position with respect to the shaft rail 830, thesecond lock elements 828 are not configured to impede, or at leastsubstantially impede, the proximal motion of the first distalarticulation driver 820. When the first distal articulation driver 820and articulation lock 810 are slid proximally, as described above, thesecond lock elements 828 can slide distally along the frame rail 830without, in various circumstances, changing, or at least substantiallychanging, their angled alignment with respect to the frame rail 830.While the second lock elements 828 are permissive of the proximalmovement of the first distal articulation driver 820 and thearticulation lock 810, the second lock elements 828 can be configured toselectively prevent, or at least inhibit, the distal movement of thefirst distal articulation driver 820, as discussed in greater detailfurther below.

Each second lock element 828 can comprise a lock aperture (not shown)and a lock tang 829. The lock tang 829 can be disposed within the secondlock cavity 824 and the lock aperture can be slidably engaged with theframe rail 830 mounted to the shaft frame 812. The frame rail 830extends through the apertures in the second lock elements 828. Thesecond lock elements 828 are not oriented in a perpendicular arrangementwith the frame rail 830; rather, the second lock elements 828 arearranged and aligned at a non-perpendicular angle with respect to theframe rail 830 such that the edges or sidewalls of the lock aperturesare engaged with the frame rail 830. Moreover, the interaction betweenthe sidewalls of the lock apertures and the frame rail 830 can create aresistive or friction force therebetween which can inhibit relativemovement between the second lock elements 828 and the frame rail 830and, as a result, resist a distal force D applied to the first distalarticulation driver 820. Stated another way, the second lock elements828 can prevent or at least inhibit the surgical end effector 300 fromrotating in a direction indicated by arrow 823. If a torque is appliedto the end effector 300 in the direction of arrow 823, a distal pullingforce D will be transmitted to the first distal articulation driver 820.The distal pulling force D will only serve to bolster the lockingengagement between the second lock elements 828 and the frame rail 830.More particularly, the distal pulling force D can be transmitted to thetangs 829 of the second lock elements 828 which can cause the secondlock elements 828 to rotate and decrease the angle defined betweensecond lock elements 828 and the frame rail 830 and, as a result,increase the bite between the sidewalls of the lock apertures and theframe rail 830. Ultimately, then, the second lock elements 828 can lockthe movement of the first distal articulation driver 820 in onedirection.

To release the second lock elements 828 and permit the surgical endeffector 300 to be articulated in the direction indicated by arrow 823,the proximal articulation driver 230 can be pushed distally tostraighten, or at least substantially straighten, the second lockelements 828 into a perpendicular, or at least substantiallyperpendicular, position. In such a position, the bite, or resistiveforce, between the sidewalls of the lock apertures and the frame rail830 can be sufficiently reduced, or eliminated, such that the firstdistal articulation driver 820 can be moved distally. To straighten thesecond lock elements 828, the proximal articulation driver 230 can bepushed distally such that the proximal arm 235 of the proximalarticulation driver 230 contacts the second lock elements 828 to pushand rotate the second lock elements 828 into their straightenedposition. In various circumstances, the proximal articulation driver 230can continue to be pushed distally until the distal arm 233 extendingtherefrom contacts, or abuts, a distal drive wall 833 of the firstdistal articulation driver 820 and pushes the first distal articulationdriver 820 distally to articulate the surgical end effector 300. Inessence, a distal pushing force can be applied from the proximalarticulation driver 230 to the first distal articulation driver 820through the interaction between the distal arm 233 and the distal drivewall 833 wherein such a pushing force can be transmitted through thefirst distal articulation driver 820 to articulate the end effector 300in the direction indicated by arrow 823. After the surgical end effector300 has been suitably articulated in the direction of arrow 823, thefirst distal articulation driver 820 can be released, in variouscircumstances, to permit the articulation lock 810 to re-lock the firstdistal articulation driver 820, and the surgical end effector 300, inposition.

Concurrent to the above, the first lock elements 826 can remain in anangled position while the second lock elements 828 are locked andunlocked as described above. The reader will appreciate that, althoughthe first lock elements 826 are arranged and aligned in an angledposition with respect to the shaft rail 830, the first lock elements 826are not configured to impede, or at least substantially impede, thedistal motion of the first distal articulation driver 820. When thefirst distal articulation driver 820 and articulation lock 810 are sliddistally, as described above, the first lock elements 826 can slidedistally along the frame rail 830 without, in various circumstances,changing, or at least substantially changing, their angled alignmentwith respect to the frame rail 830. While the first lock elements 826are permissive of the distal movement of the first distal articulationdriver 820 and the articulation lock 810, the first lock elements 826are configured to selectively prevent, or at least inhibit, the proximalmovement of the first distal articulation driver 820, as discussedabove.

In view of the above, the articulation lock 810, in a locked condition,can be configured to resist the proximal and distal movements of thefirst distal articulation driver 820. In terms of resistance, thearticulation lock 810 can be configured to prevent, or at leastsubstantially prevent, the proximal and distal movements of the firstdistal articulation driver 820. Collectively, the proximal motion of thefirst distal articulation driver 820 is resisted by the first lockelements 826 when the first lock elements 826 are in their lockedorientation and the distal motion of the first distal articulationdriver 820 is resisted by the second lock elements 828 when the secondlock elements 828 are in their locked orientation, as described above.Stated another way, the first lock elements 826 comprise a first one-waylock and the second lock elements 828 comprise a second one-way lockwhich locks in an opposite direction.

Discussed in connection with the exemplary embodiment illustrated inFIGS. 9 and 10, an initial proximal movement of the proximalarticulation driver 230 can unlock the proximal movement of the firstdistal articulation driver 820 and the articulation lock 810 while afurther proximal movement of the proximal articulation driver 230 candrive the first distal articulation driver 820 and the articulation lock810 proximally. Similarly, an initial distal movement of the proximalarticulation driver 230 can unlock the distal movement of the firstdistal articulation driver 820 and the articulation lock 810 while afurther distal movement of the proximal articulation driver 230 candrive the first distal articulation driver 820 and the articulation lock810 distally. Such a general concept is discussed in connection withseveral additional exemplary embodiments disclosed below. To the extentthat such discussion is duplicative, or generally cumulative, with thediscussion provided above, such discussion is not reproduced for thesake of brevity.

Still referring to FIGS. 9 and 10, the dual articulation linkarrangement 800 is configured to establish a “push/pull” arrangementwhen an articulation force is applied thereto through the first distalarticulation driver 820. As can be seen in those Figures, the firstdistal articulation driver 820 has a first drive rack 842 formedtherein. A first articulation rod 844 protrudes distally out of thefirst distal articulation driver 820 and is attached to a first movablecoupler 850 that is attached to the first distal articulation driver 820by a first ball joint 852. The first coupler 850 is also pivotallypinned to the proximal end portion 320 of the elongate channel 302 by afirst pin 854 as can be seen in FIG. 9. The dual articulation linkarrangement 800 further comprises a second distal articulation driver860 that has a second drive rack 862 formed therein. The second distalarticulation driver 860 is movably supported within the elongate shaftassembly 200′ for longitudinal travel in the distal direction “DD” andthe proximal direction “PD”. A second articulation rod 864 protrudesdistally out of the second distal articulation driver 860 and isattached to a second movable coupler 870 that is attached to the seconddistal articulation driver 860 by a second ball joint 872. The secondcoupler 870 is also pivotally pinned to the proximal end portion 320 ofthe elongate channel 302 by a second pin 874 as can be seen in FIG. 9.As can be seen in FIG. 9, the first coupler 850 is attached to theelongate channel 302 on one lateral side of the shaft axis SA and thesecond coupler 870 is attached to the elongate channel 302 on anopposite lateral side of the shaft axis. Thus, by simultaneously pullingon one of the couplers 850, 870 and pushing on the other coupler850,870, the surgical end effector 300 will be articulated about thearticulation axis B-B relative to the elongate shaft assembly 200′. Inthe illustrated arrangements, although the couplers 850, 870 thatfacilitate relative movement between the first and second distalarticulation drivers 820, 860, respectively and the elongate channel 302are fabricated from relatively rigid components, other arrangements mayemploy relatively “flexible” coupler arrangements. For example cable(s),etc. may extend through one or both of the distal articulation drivers820, 860, couplers 850, 870 and the ball joints 852, 872, to be coupledto the elongate channel to facilitate the transfer of articulationmotions thereto.

As can also be seen in FIGS. 9 and 10, a proximal pinion gear 880 and adistal pinion gear 882 are centrally disposed between the first driverack 842 and the second drive rack 862 and are in meshing engagementtherewith. In alternative embodiments, only one pinion gear or more thantwo pinion gears may be employed. Thus, at least one pinion gear isemployed. The proximal pinion gear 880 and the distal pinion gear 882are rotatably supported in the shaft frame 812 for free rotationrelative thereto such that as the first distal articulation driver 820is moved in the distal direction “DD”, the pinion gears 870, 872 serveto drive the second distal articulation driver 860 in the proximaldirection “PD”. Likewise, when the first distal articulation driver 820is pulled in the proximal direction “PD”, the pinion gears 880, 882drive the second distal articulation driver 860 in the distal direction“DD”. Thus, to articulate the end effector 300 about the articulationaxis B-B in the direction of arrow 821, the articulation driver 230 isoperatively engaged with the firing member 220 via the clutch system 400such that the firing member 220 moves or pulls the proximal articulationdriver 230 in the proximal direction “PD”. Movement of the proximalarticulation driver 230 in the proximal direction moves the first distalarticulation driver 820 in the proximal direction as well. As the firstdistal articulation driver 820 moves the in the proximal direction, thepinion gears 880, 882 serve to drive the second distal articulationdriver 860 in the distal direction “DD”. Such movement of the first andsecond distal articulation drivers 820, 860 causes the surgical endeffector 300 and more specifically, the elongate channel 302 of thesurgical end effector 300 to pivot about the articulation axis B-B inthe articulation direction of arrow 821. Conversely, to articulate theend effector 300 in the direction of arrow 823, the firing member 220 isactuated to push the first distal articulation driver 820 in the distaldirection “DD”. As the first distal articulation driver 820 moves the inthe distal direction, the pinion gears 880, 882 serve to drive thesecond distal articulation driver 860 in the proximal direction “PD”.Such movement of the first and second distal articulation drivers 820,860 causes the surgical end effector 300 and more specifically, theelongate channel 302 of the surgical end effector 300 to pivot about thearticulation axis B-B in the articulation direction of arrow 823.

The dual solid link articulation arrangement 800 and its variations mayafford the surgical end effector with a greater range of articulationwhen compared to other articulatable surgical end effectorconfigurations. In particular, the solid link articulation arrangementsdisclosed herein may facilitate ranges of articulation that exceedranges of 45-50 degrees that are commonly achieved by otherarticulatable end effector arrangements. Use of at least one pinion gearto interface between the distal articulation drivers enable the endeffector to be “pushed” and “pulled” into position also may reduce theamount of end effector “slop” or undesirable or unintended movementduring use. The dual solid link articulation arrangements disclosedherein also comprise an articulation system that has improved strengthcharacteristics when compared to other articulation system arrangements.

As was briefly discussed above, the intermediate firing shaft portion222 is configured to operably interface with a distal cutting or firingbeam 280. The distal firing beam 280 may comprise a laminated structure.Such arrangement enables the distal firing beam 280 to sufficiently flexwhen the surgical end effector 300 is articulated about the articulationaxis B-B. The distal firing beam 280 is supported for axial movementwithin the shaft assembly 200′ and is slidably supported by twoupstanding lateral support walls 330 formed on the proximal end of theelongate channel 302. Referring to FIG. 11, the distal firing beam 280is attached to a firing member 900 that includes a vertically-extendingfiring member body 902 that has a tissue cutting surface or blade 904thereon. In addition, a wedge sled 910 may be mounted within thesurgical staple cartridge 304 for driving contact with the firing member900. As the firing member 900 is driven distally through the cartridgebody 304, the wedge surfaces 912 on the wedge sled 910 contact thestaple drivers to actuate the drivers and the surgical staples supportedthereon upwardly in the surgical staple cartridge 304.

End effectors that employ firing beams or firing members and which arecapable of articulating over a range of, for example, forty five degreesmay have numerous challenges to overcome. To facilitate operablearticulation of such end effectors, the firing member or firing beammust be sufficiently flexible to accommodate such range of articulation.However, the firing beam or firing member must also avoid buckling whileencountering the compressive firing loads. To provide additional supportto the firing beam or firing member various “support” or “blowout” platearrangements have been developed. Several of such arrangements aredisclosed in U.S. Pat. No. 6,964,363, entitled SURGICAL STAPLINGINSTRUMENT HAVING ARTICULATION JOINT SUPPORT PLATES FOR SUPPORTING AFIRING BAR and U.S. Pat. No. 7,213,736, entitled SURGICAL STAPLINGINSTRUMENT INCORPORATING AN ELECTROACTIVE POLYMER ACTUATED FIRING BARTRACK THROUGH AN ARTICULATION JOINT, the entire disclosures of eachbeing hereby incorporated by reference herein. Blowout plates thatprovide substantial buckle resistance also are difficult to bend ingeneral which adds to the forces the articulation joint system mustaccommodate. Other firing beam support arrangements are disclosed inU.S. Pat. No. 9,943,309, entitled SURGICAL INSTRUMENTS WITHARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORTARRANGEMENTS, the entire disclosure of which is hereby incorporated byreference herein.

Referring to FIGS. 11-15, the elongate shaft assembly 200′ furthercomprises a multiple support link assembly 920 for providing lateralsupport to the distal firing beam 280 as the surgical end effector 300is articulated about the articulation axis B-B. As can be seen in FIG.11, the multiple support link assembly 920 comprises a middle supportmember 922 that is movably coupled to the surgical end effector 300 aswell as the elongate shaft assembly 200′. For example, the middlesupport member 922 is pivotally pinned to the proximal end 320 of theelongate channel 302 such that it is pivotable relative thereto about apivot axis PA. As can be seen in FIG. 11, the middle support member 922includes a distally protruding tab 923 that has a distal pivot hole 924therein for receiving an upstanding support pin 332 that is formed onthe proximal end portion 320 of the elongate channel 302. As can befurther seen in FIG. 11, the middle support member 922 further includesa proximally protruding tab 926 that has an elongate proximal slot 928therein. The proximal slot 928 is configured to slidably receive amiddle support pin 816 that is formed on the frame portion 812. Sucharrangement enables the middle support member 922 to pivot and moveaxially relative to said elongate shaft assembly 200′, for example. Ascan be seen in FIGS. 11-13, the middle support member 922 furtherincludes centrally disposed slot 930 for movably receiving the distalfiring beam 280 therethrough.

Still referring to FIGS. 11-15, the multiple support link assembly 920further comprises a proximal support link 940 and a distal support link950. The proximal support link 940 includes an elongate proximal body942 that has a rounded proximal nose portion 943 and a rounded distalnose portion 944. The proximal support link 940 further includes a pairof downwardly protruding, opposed proximal support walls 945, 946 thatdefine a proximal slot 947 therebetween. Similarly, the distal supportlink 950 includes an elongate distal body 952 that has a roundedproximal nose portion 953 and a rounded distal nose portion 954. Thedistal support link 950 further includes a pair of downwardly protrudingopposed distal support walls 955, 956 that define a distal slot 957therebetween. As can be seen in FIG. 14, the flexible distal firing beam280 is configured to extend between the proximal support walls 945, 946of the proximal support link 940 and the distal support walls 955, 956of the distal support link 950. The proximal support wall 945 includesan inwardly facing proximal arcuate surface 948 and the proximal supportwall 946 includes an inwardly facing proximal arcuate support surface949 that opposes said inwardly facing proximal arcuate surface 948. Theproximal arcuate support surfaces 948, 949 serve to provide lateralsupport to the lateral side portions of a proximal portion of theflexible distal firing beam 280 as it flexes during articulation of theend effector and traverses the articulation joint. The radiused surfacesmay match the outer radius of the distal firing beam 280 depending uponthe direction of articulation. Similarly, the distal support wall 955includes an inwardly facing distal arcuate surface 958 and the distalsupport wall 956 includes an inwardly facing distal arcuate supportsurface 959 that opposes said distal arcuate surface 958. The distalarcuate support surfaces 958, 959 serve to provide lateral support tothe lateral side portions of a distal portion of the distal firing beam280 as it flexes during articulation of the surgical end effector 300and traverses the articulation joint. The distal arcuate surfaces 958,959 may match the outer radius of the distal firing beam 280 dependingupon the direction of articulation. As can be seen in FIGS. 12 and 13,the distal end 217 of the shaft spine 210 includes a distally-facingarcuate spine pocket 218 into which the rounded proximal nose portion943 of the proximal support link 940 extends. The rounded distal noseportion 944 of the proximal support link 940 is pivotally received in anarcuate proximal pocket 932 in the middle support member 922. Inaddition, the rounded proximal nose portion 953 of the distal supportlink is received in an arcuate distal support member pocket 934 in thedistal end of the middle support member 922. The rounded distal noseportion 954 of the distal support link 950 is movably received within aV-shaped channel cavity 334 formed in the upstanding lateral supportwalls 330 formed on the proximal end 320 of the elongate channel 302.

The multiple support linkage assembly may provide higher lateral supportto the flexible firing beam laminates as the beam flexes across higherarticulation angles. Such arrangements also prevent the firing beam frombuckling under high firing loads and across relatively high articulationangles. The elongate support links, in connection with the middlesupport member, serve to provide improved lateral support to the firingbeam across the articulation zone than many prior support arrangements.In alternative arrangements, the support links may be configured toactually interlock with the middle support member at variousarticulation angles. The U-shaped support links facilitate easyinstallation and serve to provide support to the flexible support beamson each lateral side as well as the top of the beam to prevent thefiring beam from bowing upwards during firing while being articulated.

In those embodiments wherein the firing member includes a tissue cuttingsurface, it may be desirable for the elongate shaft assembly to beconfigured in such a way so as to prevent the inadvertent advancement ofthe firing member unless an unspent staple cartridge is properlysupported in the elongate channel 302 of the surgical end effector 300.If, for example, no staple cartridge is present at all and the firingmember is distally advanced through the end effector, the tissue wouldbe severed, but not stapled. Similarly, if a spent staple cartridge(i.e., a staple cartridge wherein at least some of the staples havealready been fired therefrom) is present in the end effector and thefiring member is advanced, the tissue would be severed, but may not becompletely stapled, if at all. It will be appreciated that suchoccurrences could lead to undesirable catastrophic results during thesurgical procedure. U.S. Pat. No. 6,988,649 entitled SURGICAL STAPLINGINSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT, U.S. Pat. No. 7,044,352entitled SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISMFOR PREVENTION OF FIRING, and U.S. Pat. No. 7,380,695 entitled SURGICALSTAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OFFIRING each disclose various firing member lockout arrangements. Each ofthose U.S. Patents is hereby incorporated by reference in its entiretyherein.

Such lockout arrangements may be effectively employed with a variety ofsurgical stapling instruments. Those arrangements, however, may not beparticularly well-suited for use in connection with various surgicalstapling instruments disclosed herein that employ relatively compact andshort articulation joint configurations. For example, FIGS. 15-19illustrate a surgical end effector 300 that is operably attached to anelongate shaft assembly 200′ by an articulation joint 270′. The elongateshaft assembly 200′ defines a shaft axis SA-SA and the articulationjoint 270′ facilitates selective articulation of the surgical endeffector 300 relative to the elongate shaft assembly 200′ about anarticulation axis B-B that is transverse to the shaft axis SA-SA. In theillustrated embodiment, a dual solid link articulation arrangement 800(as was described above) may be employed to selectively applyarticulation motions to the surgical end effector 300. The elongateshaft assembly 200′ comprises a distal firing beam 280 of the typedescribed above that is selectively axially movable within the surgicalend effector 300 from a starting position to an ending position uponapplication of firing motions thereto. The distal firing beam 280extends through the articulation joint 270′ and is configured to flexabout the articulation axis B-B to accommodate articulation of thesurgical end effector 300 in the various manners described herein. Inthe illustrated embodiment, the articulation joint 270′ includes amiddle support member 922 that is movably attached to the distal end 814of the shaft frame 812 and the proximal end 320 of the elongate channel302. As was discussed above, the middle support member 922 includes adistally protruding tab 923 that has a distal pivot hole 924 therein forreceiving an upstanding support pin 332 formed on the proximal endportion 320 of the elongate channel 302. The middle support member 922further includes a proximally protruding tab 926 that has an elongateproximal slot 928 therein. The proximal slot 928 is configured toslidably receive a middle support pin 816 formed on the frame portion812. The middle support 922 further includes a centrally disposed slot930 for axially receiving the distal firing beam 280 therethrough. Themiddle support member 922 provides lateral support to the distal firingbeam 280 during articulation of the surgical end effector 300 about thearticulation axis B-B while facilitating its axial passage of the distalfiring beam 280 therethrough during firing.

In the illustrated embodiment, a firing beam locking assembly 980 isemployed to prevent the distal firing beam 280 from being inadvertentlyadvanced from the starting position to the ending position unless anunfired surgical staple cartridge 304 has been operably seated in thecartridge support member or elongate channel 302. As can be seen inFIGS. 15-19, the firing beam locking assembly 980 in one form includes alocking cam or detent 281 that is formed in the distal firing beam 280such that it protrudes upwardly from the upper surface thereof. Abiasing member 984 is supported on and attached to the middle supportmember 922. As can be seen in FIG. 16, for example, the biasing member984 is substantially planar and includes a window 985 that is configuredto accommodate the locking cam 281 therein during articulation of thesurgical end effector 300. Thus, as the surgical end effector 300 isarticulated about the articulation axis B-B, the biasing member 984 doesnot apply any biasing force or load to the distal firing beam 280. Thisfeature may avoid adding to the amount of articulation forces that mustbe generated to articulate the surgical end effector 300 about thearticulation axis B-B. The biasing member 984 may be tack welded to themiddle support member 922 or be attached thereto by other fastenermethods such as by screws, pins, adhesive, etc. The window 985 may alsodefine a locking band or portion 986 that serves to contact the lockingcam 281 when the distal firing beam 280 is in the starting position. Thelocking cam 281 may be formed with a distal-facing sloping surface 283and a proximally-facing sloping surface 285 to reduce the amount offiring force and retraction force required to axially move the distalfiring beam 280. See FIG. 19.

As was described above, the distal firing beam 280 is operably attachedto a firing member 900 that includes a tissue cutting surface 904 on thefiring member body 902. In alternative arrangements, the tissue cuttingsurface may be attached to or otherwise formed on or directly supportedby a portion of the distal firing beam 280. In the illustratedarrangement, a laterally extending foot 905 is formed on the bottom ofthe firing member body 902. The firing member body 902 further includesa wedge sled engagement member 906 that is configured to engage a wedgesled in the surgical staple cartridge 304 as will be discussed infurther detail below.

FIG. 18 illustrates an “unspent” or “unfired” surgical staple cartridge304 that has been properly installed in the elongate channel 302. As canbe seen in that Figure, the wedge sled 910 is located in an “unfired”(proximal-most) position in the surgical staple cartridge 304. The wedgesled 910 includes a proximally-facing sloping surface 914 that isconfigured to engage the wedge sled engagement member 906 on the firingmember 900 to thereby bias the firing member 900 in an upward directionrepresented by arrow 988 such that the bottom portion and foot 905 ofthe firing member 900 are free to clear a lock wall 307 formed by a lockopening 303 in the bottom of the elongate channel 302. When in thatposition, the distal firing beam 280 and the firing member 900 may bedistally advanced within the elongate channel 302 and, more precisely,the surgical staple cartridge 304 mounted therein from the startingposition illustrated in FIG. 18 to the ending position with the surgicalstaple cartridge 304 wherein the wedge sled 910 has ejected all of thesurgical staples that were operably supported in the surgical staplecartridge 304. In such arrangements, after the firing member 900 hasbeen completely fired (i.e., completely advanced from its startingposition to is ending position within the surgical staple cartridge304), the firing member 900 is retracted back to the starting positionshown in FIG. 19. Because the wedge sled 910 has been distally advancedto the ending position in the staple cartridge 304 by the firing member900 and the firing member 900 is not attached to the wedge sled 910,when the firing member 900 is retracted back to the starting position,the wedge sled 910 remains in the ending position within the surgicalstaple cartridge 304 and does not return with the firing member 900 backto the starting position. Thus, the surgical staple cartridge 304 issaid to be in a “used”, “spent” or “fired” condition. As can be seen inFIG. 19, when no wedge sled is present in an unfired state, the bottomof the body portion 902 as well as the foot 905 of the firing member 900extends into the lock opening 303 in the bottom of the elongate channel302 due to the biasing motion applied by the locking band 986 of thebiasing member 984 to locking cam 281 on the distal firing beam 280.When in that position, if the clinician were to unwittingly attempt torefire the spent surgical staple cartridge, the body portion 902 and/orthe foot 905 would contact the wall 307 in the elongate channel 302 andwould be prevented from moving from the starting position to the endingposition. Thus, the firing beam locking assembly 980 prevents theadvancement of the distal firing beam 280 as well as the firing member900 from the starting position to the ending position unless an unfiredor unspent surgical staple cartridge has been properly/operablyinstalled in the elongate channel of the surgical end effector. It willalso be appreciated that the firing beam locking assembly 980 alsoprevents advancement of the distal firing beam 280 when no staplecartridge at all has been installed in the elongate channel 302. Inaddition to accommodating articulation of the surgical end effector 300about the articulation axis B-B without applying additional load to thedistal firing beam which could result in the need for increasedarticulation forces to articulate the surgical end effector, the firingbeam locking assembly 980 applies no additional load on the firingmember and/or the distal firing beam once it has been distally advancedpast the lockout wall whether or not the end effector jaws are open orclosed.

FIG. 20A illustrates another articulatable surgical end effectorembodiment 300′ that employs a firing beam locking assembly 980′ thatcomprises a biasing member 984′ that is mounted within the end effectorclosure sleeve 272. As can be seen in that Figure, for example, thebiasing member 984′ applies a biasing force to a sloped or taperedportion 283′ of the distal firing beam 280′. The firing beam lockingassembly 980′ otherwise operates in the same manner as described abovewith respect to the firing beam locking assembly 980. More specifically,the biasing member 984′ applies a biasing force to the distal firingbeam 280′ that forces the distal firing beam 280′ and the firing memberattached thereto downward within the elongate channel. Unless an unspentsurgical staple cartridge with a wedge sled or other staple ejectormember in an unfired position has been properly installed within theelongate channel or cartridge support member so as to operably engagewith the firing member or firing beam to move the firing member/firingbeam out of engagement with the lock wall, the firing member/firing beamwould be prevented from being axially advanced from the starting toending position.

FIGS. 21-25 illustrate a portion of another elongate shaft assembly 1200that is similar to the elongate shaft assembly 200 described above,except for various differences discussed in further detail below. Thosecomponents of the elongate shaft assembly 1200 that have been discussedin detail above are referenced with like element numbers and, for thesake of brevity, will not be further discussed in great detail beyondthat which may be necessary to understand the operation of shaftassembly 1200 when, for example, employed with portions of the surgicalinstrument 10 as described above. As can be seen in FIG. 21, theelongate shaft assembly 1200 includes an articulation lock 1810 that issubstantially similar to articulation lock 810 and operates inessentially the same manner. As can be seen in FIG. 22, the elongateshaft assembly 1200 includes a shaft frame 1812 that has a proximalcavity 1815 that is configured to movably support a proximal portion1821 of a first distal articulation driver 1820 therein. The firstdistal articulation driver 1820 is movably supported within the elongateshaft assembly 1200 for selective longitudinal travel in a distaldirection “DD” and a proximal direction “PD” in response to articulationcontrol motions applied thereto. The shaft frame 1812 further includes adistal end portion 1814 that has a pivot pin 1818 formed thereon. Thepivot pin 1818 is adapted to be pivotally received within a pivot hole(not shown) in a proximal end portion 1320 of an elongate channel 1302of a surgical end effector 1300. Such arrangement facilitates pivotaltravel (i.e., articulation) of the elongate channel 1302 of the relativeto the shaft frame 1812 about an articulation axis B-B defined by thepivot hole and the pin 1818. The shaft frame 1812 further includes acentrally disposed cavity 1817 and a distal notch 1819 that is locatedbetween the distal end 1814 and the centrally disposed cavity 1817.

The shaft assembly 1200 further includes a second distal articulationdriver 1860 that comprises an endless member 1862 that is rotatablyjournaled on a proximal pulley 1840 and a distal pulley 1340. Stillreferring to FIG. 22, the proximal pulley 1840 is rotatably journaled ona pulley spindle 1842 that is mounted within the centrally disposedcavity 1817 within the shaft frame 1812. The distal pulley 1340 isnon-rotatably supported or formed on the proximal end 1320 of theelongate channel 1302 of the surgical end effector 1300. In one form,the endless member 1862 comprises a cable that is fabricated fromstainless steel, tungsten, aluminum, titanium, etc., for example. Thecable may be of braided or multi-stranded construction with variousnumbers of strands to attain desired levels of tensile strength andflexibility. In various arrangements, for example, the cable 2382 mayhave a diameter in the range of 0.03 inches to 0.08 inches and morepreferably in the range of 0.05-0.08 inches. A preferred cable may, forexample, be fabricated from 300 series stainless steel—half hard to fullhard. In various arrangements, the cable may also be coated with, forexample, Teflon®, copper, etc. for improved lubricity and/or to reducestretching, for example. A first lug 1863 is attached to one end of thecable and a second lug 1864 is attached to the other end of the cableby, for example, crimping. The cable is stretched in tension while theends and/or the lugs 1863, 1864 are welded, glued, mechanicallyfastened, etc. together to form the endless member 1862. The spindle1842 may comprise a cam mount that engages the proximal pulley 1840 soas to move the pulley 1840 proximally. Other forms of tensioningarrangements such as belt tensioners, turnbuckle arrangements, etc. mayalso be employed to tension the endless member 1862.

Still referring to FIG. 22, the endless member 1862 is coupled to adistal end 1821 of the first distal articulation driver 1820 by acoupler assembly 1830. The coupler assembly 1830 comprises an uppercoupler portion 1832 formed on the distal end 1822 of the first distalarticulation driver 1820 and a lower coupler portion 1834. The lowercoupler portion 1834 is formed with two cradles 1835 that are configuredto receive the lugs 1862, 1864 therein. A pair of attachment pins 1836is configured to be pressed into holes 1837 in the upper coupler portion1832 to affix the two coupler portions 1832 and 1834 together. Otherfastener arrangements, screws, rivets, adhesive, etc. may be employed.When the endless member 1862 is journaled on the pulleys 1840 and 1340,the coupler assembly 1830 is free to move axially within the distalnotch 1819 in the shaft frame 1812 in response to the axial movement ofthe first distal articulation driver 1820. The articulation motionsgenerated by the axial movement of the first distal articulation driver1820 are transferred to the second distal articulation driver 1860 orthe endless member 1862. An attachment ball or lug 1866 is attached tothe endless member 1862 and is received in a groove or pocket 1342formed in the distal pulley 1340. Thus, movement of the endless member1862 is transferred to the surgical end effector 1300 and morespecifically to the elongate channel 1302 of the surgical end effector1300 to articulate the end effector about articulation axis B-B. Thus,when the first distal articulation driver 1820 is moved in the distaldirection “DD”, the endless member 1862 causes the surgical end effector1300 to articulate about the articulation axis B-B in the articulationdirection represented by arrow 823. See FIG. 21. Likewise, when thefirst distal articulation driver 1820 is moved in the proximal direction“PD”, the endless member 1862 causes the surgical end effector 1300 toarticulate about the articulation axis B-B in the articulation directionrepresented by arrow 821. See FIGS. 21 and 25. As shown in FIG. 21,articulation direction 823 is opposite to articulation direction 821.

FIGS. 26-31 illustrate portions of another elongate shaft assembly 2200that is similar to the elongate shaft assembly 200 described above,except for various differences discussed in further detail below. Thosecomponents of the elongate shaft assembly 2200 that have been discussedin detail above are referenced with like element numbers and, for thesake of brevity, will not be further discussed in great detail beyondthat which may be necessary to understand the operation of the elongateshaft assembly 2200 when, for example, employed with portions of thesurgical instrument 10 as described above. As can be seen in FIG. 26,the elongate shaft assembly 2200 includes a proximal housing or nozzle201 comprised of nozzle portions 202 and 203. The elongate shaftassembly 2200 further includes an anvil actuator member in the form of aclosure tube 2260 which can be utilized to close and/or open the anvil2310 of the surgical end effector 2300 that is operably attachedthereto. As can be seen in FIG. 26, the elongate shaft assembly 2200includes a proximal spine 2210 which is configured to operably interfacewith an articulation lock 2350. The proximal spine 2210 is configuredto, one, slidably support a firing member 2220 therein and, two,slidably support the closure tube 2260 which extends around the proximalspine 2210. The proximal spine 2210 also slidably supports a proximalarticulation driver 2230. The proximal articulation driver 2230 has adistal end 2231 that is configured to operably engage the articulationlock 2350.

In the illustrated arrangement, the proximal spine 2210 comprises aproximal end 2211 which is rotatably supported in a chassis 240. In onearrangement, for example, the proximal end 2211 of the proximal spine2210 has a thread 2214 formed thereon for threaded attachment to a spinebearing configured to be supported within the chassis 240. Such anarrangement facilitates rotatable attachment of the proximal spine 2210to the chassis 240 such that the proximal spine 2210 may be selectivelyrotated about a shaft axis SA-SA relative to the chassis 240. Theproximal end of the closure tube 2260 is attached to a closure shuttlesupported in the chassis as was described in detail above. When theelongate shaft assembly 2200 is operably coupled to the handle orhousing of the surgical instrument 10, operation of the closure triggerdistally advances the closure tube 2260.

As was also indicated above, the elongate shaft assembly 2200 furtherincludes a firing member 2220 that is supported for axial travel withinthe proximal spine 2210. The firing member 2220 includes an intermediatefiring shaft portion 2222 that is configured for attachment to a distalcutting or firing beam assembly 2280. See FIG. 27. The intermediatefiring shaft portion 2222 may include a longitudinal slot 2223 in thedistal end thereof which can be configured to receive a tab on theproximal end of the distal firing beam assembly 2280. The longitudinalslot 2223 and the proximal end of the distal firing beam assembly 2280can be sized and configured to permit relative movement therebetween andcan comprise a slip joint. The slip joint can permit the intermediatefiring shaft portion 2222 of the firing drive 2220 to be moved toarticulate the end effector 300 without moving, or at leastsubstantially moving, the distal firing beam assembly 2280. Once thesurgical end effector 2300 has been suitably oriented, the intermediatefiring shaft portion 2222 can be advanced distally until a proximalsidewall of the longitudinal slot 2223 comes into contact with the tabin order to advance the distal firing beam assembly 2280 and fire astaple cartridge that may be supported in the end effector 300. Theproximal spine 2210 is also coupled to a distal spine 2212.

Similar to the elongate shaft assembly 200, the illustrated elongateshaft assembly 2200 includes a clutch assembly 2400 which can beconfigured to selectively and releasably couple the proximalarticulation driver 2230 to the firing member 2220. In one form, theclutch assembly 2400 includes a lock collar, or sleeve 2402, positionedaround the firing member 2220 wherein the lock sleeve 2402 can berotated between an engaged position in which the lock sleeve 2402couples the proximal articulation driver 2230 to the firing member 2220and a disengaged position in which the proximal articulation driver 2230is not operably coupled to the firing member 2220. When the lock sleeve2402 is in its engaged position, distal movement of the firing member2220 can move the proximal articulation driver 2230 distally and,correspondingly, proximal movement of the firing member 2220 can movethe proximal articulation driver 2230 proximally. When lock sleeve 2402is in its disengaged position, movement of the firing member 2220 is nottransmitted to the proximal articulation driver 2230 and, as a result,the firing member 2220 can move independently of the proximalarticulation driver 2230. In various circumstances, the proximalarticulation driver 2230 can be held in position by the articulationlock 2350 when the proximal articulation driver 2230 is not being movedin the proximal or distal directions by the firing member 2220.

As discussed above, the lock sleeve 2402 can comprise a cylindrical, orat least a substantially cylindrical body including a longitudinalaperture 2403 defined therein configured to receive the firing member2220. The lock sleeve 2402 can comprise diametrically-opposed,inwardly-facing lock protrusions 2404 and an outwardly-facing lockmember 2406. The lock protrusions 2404 can be configured to beselectively engaged with the firing member 2220. More particularly, whenthe lock sleeve 2402 is in its engaged position, the lock protrusions2404 are positioned within a drive notch 2224 defined in the firingmember 2220 such that a distal pushing force and/or a proximal pullingforce can be transmitted from the firing member 2220 to the lock sleeve2402. When the lock sleeve 2402 is in its engaged position, the secondlock member 2406 is received within a drive notch 2232 defined in thearticulation driver 2230 such that the distal pushing force and/or theproximal pulling force applied to the lock sleeve 2402 can betransmitted to the proximal articulation driver 2230. In effect, thefiring member 2220, the lock sleeve 2402, and the proximal articulationdriver 2230 will move together when the lock sleeve 2402 is in itsengaged position. On the other hand, when the lock sleeve 2402 is in itsdisengaged position, the lock protrusions 2404 may not be positionedwithin the drive notch 2224 of the firing member 2220 and, as a result,a distal pushing force and/or a proximal pulling force may not betransmitted from the firing member 2220 to the lock sleeve 2402.Correspondingly, the distal pushing force and/or the proximal pullingforce may not be transmitted to the proximal articulation driver 2230.In such circumstances, the firing member 2220 can be slid proximallyand/or distally relative to the lock sleeve 2402 and the proximalarticulation driver 2230.

As was also discussed above, the elongate shaft assembly 2200 furtherincludes a switch drum 2500 that is rotatably received on the closuretube 2260. The switch drum 2500 comprises a hollow shaft segment 2502that has a shaft boss 2504 formed thereon for receive an outwardlyprotruding actuation pin 2410 therein. In various circumstances, theactuation pin 2410 extends through a slot into a longitudinal slotprovided in the lock sleeve 2402 to facilitate axial movement of thelock sleeve 2402 when it is engaged with the articulation driver 2230. Arotary torsion spring 2420 is configured to engage the boss 2504 on theswitch drum 2500 and a portion of the nozzle housing 203 to apply abiasing force to the switch drum 2500. The switch drum 2500 can furthercomprise at least partially circumferential openings 2506 definedtherein which can be configured to receive circumferential mountsextending from the nozzle halves 202, 203 and permit relative rotation,but not translation, between the switch drum 2500 and the proximalnozzle 201. As described above, rotation of the switch drum 2500 willultimately result in the rotation of an actuation pin 2410 and the locksleeve 2402 between its engaged and disengaged positions. Thus, inessence, the nozzle 201 may be employed to operably engage and disengagethe articulation drive system with the firing drive system in thevarious manners described above as well as in U.S. patent applicationSer. No. 13/803,086, now U.S. Patent Application Publication No.2014/0263541.

Referring to FIG. 27, the closure tube assembly 2260 includes a doublepivot closure sleeve assembly 2271. According to various forms, thedouble pivot closure sleeve assembly 2271 includes an end effectorclosure sleeve 2272 having upper and lower distally projecting tangs. Anupper double pivot link 2277 includes upwardly projecting distal andproximal pivot pins that engage respectively an upper distal pin hole inthe upper proximally projecting tang and an upper proximal pin hole inan upper distally projecting tang on the closure tube 2260. A lowerdouble pivot link 2278 includes upwardly projecting distal and proximalpivot pins that engage respectively a lower distal pin hole in the lowerproximally projecting tang and a lower proximal pin hole in the lowerdistally projecting tang.

The elongate shaft assembly 2200 also includes a surgical end effector2300 that is similar to the surgical end effector 300 that was describedabove. As can be seen in FIG. 27, the surgical end effector 2300includes an elongate channel 2302 that is configured to operably supporta surgical staple cartridge 2304 therein. The elongate channel 2302 hasa proximal end portion 2320 that includes two upstanding lateral walls2322. The surgical end effector 2300 further includes an anvil 2310 thathas an anvil body 2312 that has a staple-forming undersurface 2313formed thereon. The proximal end 2314 of the anvil body 2312 isbifurcated by a firing member slot 2315 to form two anvil attachmentarms 2316. Each anvil attachment arm 2316 includes a laterallyprotruding anvil trunnion 2317. A trunnion slot 2324 is provided in eachlateral wall 2322 of the elongate channel 2302 for receiving acorresponding one of the anvil trunnions 2317 therein. Such arrangementserves to movably affix the anvil 2310 to the elongate channel 2302 forselective pivotable travel between open and closed or clamped positions.The anvil 2310 is moved to a closed position by distally advancing theclosure tube 2260 and more particularly, the end effector closure sleeve2272 up the tapered attachment arms 2316 which causes the anvil 2310 tomove distally while pivoting to the closed position. A horseshoe-shapedopening 2273 is provided in the end effector closure sleeve 2272 that isconfigured to engage an upstanding tab 2318 on the anvil 2310 of the endeffector 2300. To open the anvil 2310, the closure tube 2260 and, moreparticularly, the end effector closure sleeve 2272 is moved in theproximal direction. In doing so, a central tab portion defined by thehorseshoe shaped opening 2273 cooperates with the tab 2318 on the anvil2310 to pivot the anvil 2310 back to an open position.

Turning to FIGS. 26, 28 and 29, as mentioned above, the elongate shaftassembly 2200 includes an articulation lock 2350 that is substantiallysimilar to articulation locks 350 and 810 that were described above.Those components of articulation lock 2350 that differ from thecomponents of articulation lock 350 and are necessary to understand theoperation of articulation lock 350 will be discussed in further detailbelow. As discussed above, the articulation lock 2350 can be configuredand operated to selectively lock the end effector 2300 in position. Sucharrangement enables the surgical end effector 2300 to be rotated, orarticulated, relative to the shaft closure tube 2260 when thearticulation lock 2350 is in its unlocked state. When the proximalarticulation driver 2230 is operatively engaged with the firing member2220 via the clutch system 2400, further to the above, the firing member2220 can move the proximal articulation driver 2230 proximally and/ordistally. Movement of the proximal articulation driver 2230, whether itis proximal or distal, can unlock the articulation lock 2350 as wasdescribed above. This embodiment includes a proximal lock adapter member2360 that is movably supported between the proximal spine 2210 and thedistal spine 2212. The proximal lock adapter 2360 includes a lock cavity2362 for receiving therein first lock elements 2364 and second lockelements 2366 that are journaled on a frame rail 2368 that extendsbetween the proximal frame 2210 and the distal frame 2212. Thearticulation lock 2350 operates in the various manners described aboveand, for the sake of brevity, will not be further discussed herein.

As can be seen in FIGS. 26, 28 and 29, a first distal articulationdriver 2370 is attached to the proximal lock adapter 2360. The firstdistal articulation driver 2370 is operably attached to a second distalarticulation driver 2380 that operably interfaces with the elongatechannel 2302 of the end effector 2300. The second distal articulationdriver 2380 comprises a cable 2382 that is rotatably journaled on aproximal pulley 2383 and a distal pulley 2392. The distal pulley 2392 isnon-rotatably supported or integrally formed on an end effector mountingassembly 2390 and includes a detent or pocket 2396. In the illustratedexample, the end effector mounting assembly 2390 is non-movably attachedto the proximal end 2320 of the elongate channel 2302 by a spring pin2393 that extends through a hole in the end effector mounting assembly2390 and holes 2394 in the proximal end 2320 of the elongate channel2302. The proximal pulley 2383 is rotatably supported on the distalspine 2212. The distal end of the distal spine 2212 has a pivot pin 2213formed thereon that is configured to be rotatably received within apivot hole 2395 formed in the end effector mounting member 2390. Sucharrangement facilitates pivotal travel (i.e., articulation) of theelongate channel 2302 relative to the distal spine 2212 about anarticulation axis B-B defined by the pivot hole 2395 and the pin 2213.

In one form, the cable 2382 may be fabricated from stainless steel,tungsten, aluminum, titanium, etc., for example. The cable may be ofbraided or multi-stranded construction with various numbers of strandsto attain desired levels of tensile strength and flexibility. In variousarrangements, for example, the cable 2382 may have a diameter in therange of 0.03 inches to 0.08 inches and more preferably in the range of0.05-0.08 inches. A preferred cable may, for example, be fabricated from300 series stainless steel—half hard to full hard. In variousarrangements, the cable may also be coated with, for example, Teflon®,copper, etc. for improved lubricity and/or to reduce stretching, forexample. In the illustrated example, the cable 2382 has a lug 2384attached to one end thereof and a lug 2385 attached to the other endthereof by, for example, crimping. The first distal articulation driver2370 includes a pair of spaced cleats 2372, 2374 that are spaced fromeach other sufficiently so as to accommodate the lugs 2384, 2385therebetween. For example, the proximal cleat 2372 includes a proximalslot 2373 for receiving a portion of the cable 2382 adjacent the lug2384 and the distal cleat 2374 includes a distal slot 2375 for receivinga corresponding portion of the cable 2382 adjacent the lug 2385. Theslots 2373 and 2375 are sized relative to the lugs 2384, 2385,respectively so as to prevent the lugs 2384, 2385 from pullingtherethrough. The proximal slot 2375 is oriented at an angle as comparedto the distal slot 2375 so as to cinchingly grip the correspondingportion of the cable 2382 therein. See FIG. 30. An attachment ball orlug 2398 is attached to the endless member 2382 and is received in thedetent or pocket 2396 formed in the distal pulley 2392. See FIG. 31.Thus, when the first distal articulation driver 2370 is axiallyretracted in the proximal direction “PD”, in the manners describedabove, the endless member 2382 will articulate the end effector 2300 inthe direction represented by arrow 2376 in FIG. 31. Conversely, when thefirst distal articulation driver 2370 is axially advanced in the distaldirection “DD”, the surgical end effector 2300 is articulated in thedirection represented by arrow 2399 in FIG. 31. In addition, theproximal and distal cleats 2372, 2374 are spaced sufficiently so as toaccommodate the lugs 2384, 2385 therebetween. A tensioning wedge 2378 isused as shown in FIGS. 29-32 to apply sufficient tension to the cable2382 such that when the cable is actuated, it will apply an articulationmotion to the end effector 2300. In the alternative arrangement depictedin FIG. 35, the proximal cleat 2374′ is initially not attached to thefirst articulation driver 2370. The proximal cleat 2374′ is positionedon the first distal articulation driver 2370 so as to capture the lugs2384 and 2385 between the distal cleat 2372 and the proximal cleat2374′. The proximal cleat 2374′ is moved toward the distal cleat 2372until a sufficient amount of tension is generated in the cable 2382 andthen the proximal cleat 2374′ is attached to the first distalarticulation driver 2370. For example, the proximal cleat 2374′ may beattached to the first distal articulation driver 2370 by laser weldingor other suitable form of attachment means or fastener arrangement.

Referring FIGS. 36-39, the surgical instrument includes for example, acentral firing beam support member 2286 that is configured to extendacross an articulation joint to provide support to a flexible firingbeam assembly 2280. In one form, the central firing beam support member2286 comprises a flexible plate member or band and includes a downwardlyprotruding distal attachment tab 2287 that is attached to the surgicalend effector and an upwardly extending proximal end portion 2288 that isattached to the elongate shaft assembly. In at least one arrangement,the distal attachment tab 2287 is attached to the end effector mountingassembly 2390 by the spring pin 2393 and the proximal end portion 2288is pinned to the distal spine 2212 by pins (not shown). The centralfiring beam support member 2286 is located along the centerline or shaftaxis of the device and serves to provide support to the firing beamduring articulation. This is different from those arrangements thatemploy “blow-out” plates or lateral support plates that are located onthe lateral sides of the firing beam and which are thereby offset fromthe shaft axis increasing the tension and compression forces that theyexperience during articulation. In the illustrated example, thelongitudinally movable flexible firing beam assembly 2280 comprises alaminated beam structure that includes at least two beam layers whereinat least one beam layer is configured to pass adjacent one lateral sideof the central firing beam support member and at least one other beammember is configured to pass adjacent another lateral side of thecentral firing beam support member. In the illustrated example, twolaminated layers 2282 and 2284 are configured to pass adjacent each sideof the flexible tension carrying member. See, for example, FIGS. 35 and36. In various embodiments, the laminated layers 2282 and 2284 maycomprise, for example, stainless steel bands that are interconnected by,for example, welding or pinning together at their proximal ends, whiletheir respective distal ends are not connected together to allow thelaminates or bands to splay relative to each other when the end effectoris articulated. Each pair of laminated layers or bands 2282, 2284 isrepresented as a lateral firing band assembly 2285 of the firing beamassembly 2280. Thus, as shown in FIG. 36, one lateral firing bandassembly 2285 is supported on each lateral side of the centralarticulation bar 2286 for axial travel relative thereto by a series oflateral load carrying members 2290. Each lateral load carrying member2290 may be fabricated from, for example, stainless steel, aluminum,titanium, liquid crystal polymer material, plastic material, Nylon,Acrylonitrile butadiene styrene (ABS), polyethylene, etc. and be formedwith opposed arcuate ends 2292. Each lateral load carrying member 2290also has an axial passage 2294 extending therethrough to receive theassembly of the lateral firing band assemblies 2285 and the centralarticulation bar 2286. As can be most particularly seen in FIG. 38, eachaxial passage is defined by two opposed arcuate surfaces 2295 thatfacilitate movement of lateral load carrying members 290 on thelongitudinally movable flexible firing beam assembly 2280. The lateralload carrying members 2290 are serially arranged on the lateral firingband assemblies 2285 and the central articulation bar 2286 such that theopposed arcuate ends 2292 abut corresponding arcuate ends 2292 ofadjacent lateral load carrying members 2290. See, for example, FIGS. 36and 37.

Referring again to FIG. 37, it can be seen that the proximal end portion2288 central articulation bar 2286 extends downwardly for attachment tothe distal spine 2212. The distal end 2287 of the firing beam assembly2280 is attached to a firing member 2900 of the type and constructiondescribe above, for example. As can be seen in that Figure, the firingmember 2900 includes a vertically-extending firing member body 2902 thathas a tissue cutting surface or blade 2904 thereon. In addition, a wedgesled 2910 may be mounted within the surgical staple cartridge 2304 fordriving contact with the firing member 2900. As the firing member 2900is driven distally through the cartridge body 2304, the wedge surfaces2912 of the wedge sled 2910 contact the staple drivers to actuate thedrivers and the surgical staples supported thereon upwardly in thecartridge 2304. The firing beam assembly 2280 is operated in the variousmanners described above. As the firing beam assembly 2280 is distallyadvanced about the articulation joint, the lateral load carrying members2290 may help to resist buckling loads on the firing beam assembly 2280.The lateral load carrying members 2290 may also reduce the amount offorce required to articulate the end effector and also accommodategreater articulation angles when compared to other articulation jointarrangements. The fixed central firing beam support member 2286 servesto carry the tension loads that are generated during articulation andfiring.

As described above, the firing beam assembly comprises a laminated beamstructure that includes at least two beam layers. As the firing beamassembly is advanced distally (during firing), the firing beam assemblyis essentially bifurcated by the central firing beam support member sothat portions of the firing beam assembly (i.e., laminate layers) passon both sides of the of the central firing beam support member.

FIGS. 40-43 illustrate a portion of another firing beam assembly 2280′that is attached to a firing member 2900. As can be seen in thoseFigures, the firing beam assembly 2280 comprises a laminated structurethat includes two outer lateral beams or layers 2282′ that each have athickness that is designated as “a” and four central layers 2284′ thateach have a thickness designated as “b”. In at least one arrangement,for example, “a” may be approximately 0.005-0.008 inches and morepreferably 0.008 inches and “b” may be approximately 0.008-0.012 inchesand more preferably 0.010 inches. However, other thicknesses may beemployed. In the illustrated example, “a” is less than “b”. In otherarrangements, “a” is greater than “b”. In alternative arrangements, forexample, the laminates may be made up of three different thicknesses“a”, “b”, “c”, wherein “a”=0.006 inches, “b”=0.008 inches, and “c”=0.010inches (with the thickest laminate or band being in the center of theassembly). In various arrangements, there may be an odd number oflaminates or bands where “c” is the single thickest laminate in thecenter.

The laminate composition is relevant because of the amount of strainthat is applied to a beam assembly based on its thickness and itsdistance from the centerline of bending. Thicker laminates or bands thatare closer to the centerline may experience the same levels of strain asthe thinner ones that are farther away from the centerline because theyhave to be bent more in view of the fact that they are stacked together.The radius of curvature is more aggressive on the inside of the curvethe father away from the centerline. Thicker laminates or bands tend toexperience more internal stress than thinner laminates given the sameradius of curvature. Thus, thinner side laminates or bands that have thesmallest radius of curvature may have the same likelihood of plasticallydeforming as the thicker ones that are closure to the centerline.

Stated another way, when the end effector articulates in one direction,the laminates or bands located away from the direction of articulationhave the largest bend radius and the laminates or bands closest to thedirection of articulation have the tightest bend radius. However, whenthe end effector is articulated in the opposite direction, the inverseis true. The laminates on the inside of the laminate stack experiencethe same deviation, but their bend radius will always fall within therange of the outer ones. Thus, to maintain flexibility, locating thinnerlaminates on the outside of the stack may be desired. However, tomaximize stiffness and buckling resistance, thicker materials on theinside add additional benefit. Alternately, if the end effector needsonly to articulate in a single direction, the laminates or bands locatedaway from the direction of articulation will experience the greatestbend radius and the laminates or bands located in the direction ofarticulation have the tightest bend radius. However, because the endeffector does not articulate in an opposite direction, the inverse is nolonger true and therefor, the laminate stack does not need to besymmetric. Thus, in such arrangement, it would be desirable to have thethinnest laminate or band be the one that will experience the tightestbend radius (the laminate or band on the side of the direction ofarticulation).

In still other arrangements, the laminates or bands may be fabricatedfrom different metals with different strengths and modulus. For example,the outer laminates or bands could have the same thickness as the innerlaminates or bands with the inner laminates or bands being fabricatedfrom 300 series stainless steel and the outer laminates or bands beingfabricated from titanium or nitinol.

As can also be seen in FIGS. 42 and 43, the distal firing beam assembly2280′ may be effectively employed with the series of lateral loadcarrying members 2290 described above. It will be appreciated that thedistal firing beam assembly 2280 may also be used in connection with acentral articulation bar 2286 in the manner described above so that someof the layers or lateral beams (or bands or laminates) thereof axiallyadvance along the sides of the central articulation bar. In someembodiments, the layers advancing on each side of the centralarticulation bar 2286 may have the same thickness, composition, shapeand configuration. In other arrangements the layer or layers passingalong one side of the central articulation bar may have a differentthickness and/or composition and/or shape than the thickness and/orcomposition and/or shape of the layer or layers passing along theopposite side of the central articulation bar, so as to achieve adesired range of travel and flexibility while maintaining a desiredamount of stiffness so as to avoid buckling during firing.

FIGS. 44-46 illustrate a portion of another elongate shaft assembly 3200that includes a surgical end effector 300 of the type and constructiondescribed above. Other forms of surgical end effectors may also beemployed. The elongate shaft assembly 3200 also includes alongitudinally movable flexible firing beam assembly 3280 that isattached to a firing member 900. In alternative arrangements, the distalend of the firing beam assembly 3280 may be configured to performvarious actions within the surgical end effector without the need for afiring member attached thereto. The flexible firing beam assembly 3280may comprise a laminated beam arrangement of the various types describedherein. In one arrangement, at least two compression bands are employedto provide lateral support to the flexible firing beam assembly 3280 asit traverses the articulation joint. The illustrated embodiment employsa total of four compression bands for providing lateral support to theflexible firing beam as it traverses the articulation joint. Forexample, the elongate shaft assembly 3200 further includes a spine 3210that includes a distal end 3217 that has two distal cavities, or notches3219, and two proximal cavities, or notches 3219′, formed therein. Onedistal cavity 3219 accommodates a first proximal end 3904 of a firstcompression band 3900 located on one lateral side 3281 of said flexiblefiring beam assembly 3280 and the other distal cavity 3219 accommodatesa second proximal end 3905 of a second compression band 3901 located onanother lateral side 3283 of the flexible firing beam assembly 3280. Thefirst compression band 3900 includes a first distal end 3902 that ismounted within a corresponding upstanding lateral support wall 330formed on the proximal end 320 of the elongate channel 302 of thesurgical end effector 300. Similarly, the second compression band 3901includes a second distal end 3907 that is also mounted within acorresponding upstanding lateral support wall 330 formed on the proximalend 320 of the elongate channel 302 of the surgical end effector 300.The first and second distal compression bands 3900, 3901 may befabricated from spring steel or the like and the proximal ends 3904,3905 may be folded in a U-shaped fashion to form a biasing portionconfigured to be movably received within the distal notches 3219 asshown. Such arrangement permits the first and second distal compressionbands 3900, 3901 to flex in response to the articulation of the surgicalend effector 300 while retaining the proximal ends 3904, 3905 withintheir corresponding distal notches 3219.

As can also be seen in FIGS. 44-46, the elongate shaft assembly 3200further includes a third compression band 3910 and a fourth compressionband 3911. Like the first and second compression bands 3900, 3901, thethird and fourth compression bands 3910, 3911 may be fabricated fromspring steel. As can be seen in FIGS. 44-46, the third compression band3910 may be situated between the first compression band 3900 and thelateral side 3281 of the flexible firing beam assembly 3280 and thefourth compression band 3911 may be situated between the secondcompression band 3901 and the another lateral side 3283 of the flexiblefiring band assembly 3280. The third proximal end 3914 of the thirdcompression band 3910 as well as the fourth proximal end 3915 of thefourth compression band 3911 may each be folded in a U-shaped fashion toform a biasing portion that is movably received within a correspondingproximal cavity 3219′ in the spine 3210. The third distal end 3912 ofthe third compression band 3910 and the fourth distal end 3917 of thefourth compression band 3911 are mounted in a corresponding lateralsupport wall 330 in the surgical end effector 300.

The elongate shaft assembly 3200 further comprises a movable supportlink assembly 3920 for providing further lateral support to the flexiblefiring beam assembly 3280 as the end effector 300 is articulated aboutthe articulation axis. As can be seen in FIGS. 44-46, the movablesupport link assembly 3920 comprises a middle support member 3922 thatis movably coupled to the surgical end effector 300 as well as theelongate shaft assembly 3200. In one embodiment, the middle supportmember 3922 is pivotally pinned to the proximal end 320 of the elongatechannel 302. The middle support member 3922 further includes aproximally protruding tab 3926 that has an elongate proximal slot 3928therein. The proximal slot 3928 is configured to slidably receive amiddle support pin 3211 formed on the spine 3210. Such arrangementpermits the relative pivotal and axial movement between the middlesupport member 3922 and the spine 3210 of the elongate shaft assembly3200 so as to accommodate a larger range of articulation while beingable to dynamically move so as to maintain adequate lateral support onthe firing beam assembly 3280. As can be seen in FIGS. 44-46, the middlesupport member 3922 further includes centrally disposed slot 3930 foraxially receiving the firing beam assembly 3280 therethrough.

As can be further seen in FIGS. 44-46, the movable support link assembly3920 further comprises an elongate movable pivot link 3940. The pivotlink 3940 includes a central body portion 3942 that has proximallyprotruding proximal nose portion 3943 and a distally-protruding distalnose portion 3944. The pivot link 3940 further includes a firstdownwardly-protruding lateral support wall 3945 and a second downwardlyprotruding lateral support wall 3946 that define a beam slot 3947therebetween. As can be seen in FIG. 46, the firing beam assembly 3280is configured to extend between the first and second lateral supportwalls 3945, 3946 during actuation of the firing beam assembly 3280 andarticulation of the surgical end effector 300. Further, in theillustrated arrangement, for example, the first compression band 3900extends between the first lateral support wall 3945 and the thirdcompression band 3910 and the second compression band 3901 extendsbetween the second lateral support wall 3946 and the fourth compressionband 3911. The first lateral support wall 3945 includes an inwardlyfacing first arcuate surface 3948 and the second lateral support wall3946 includes an inwardly facing second arcuate surface 3949. The firstand second arcuate surfaces 3948, 3949 serve to provide lateral supportto the firing beam assembly 3280 as it flexes during articulation of theend effector 300. The radiused surfaces may match the outer radius ofthe firing beam assembly 3280 and compression bands 3900, 3901, 3910,3911 depending upon the direction and degree of articulation. As canalso be seen in FIGS. 44 and 45, the distal end 3217 of the spine 3210includes a pair of right and left opposing shaft notches 3218 into whichthe rounded proximally-protruding proximal nose portion 3943 of thepivot link 3940 extends depending upon the direction in which thesurgical end effector is articulated about the articulation axis.Similarly, right and left opposed support notches 3932 are provided inthe middle support 3922 to accommodate the distally-protruding distalnose portion 3944 of the pivot link 3940 depending upon the direction inwhich the end effector is articulated. Such notch arrangements serve toproperly align the pivot link 3940 in an orientation suited toaccommodate the direction of articulation while affording lateralsupport to the pivot link 3940.

FIGS. 47-51 illustrate another elongate shaft assembly 4200 that is, insome aspects, similar to the elongate shaft assembly 2200 describedabove, except for various differences discussed in further detail below.Those components of the elongate shaft assembly 2200 that have beendiscussed in detail above will contain like element numbers and, for thesake of brevity, will not be further discussed in great detail beyondthat which may be necessary to understand the operation of elongateshaft assembly 4200 when, for example, employed with portions of thesurgical instrument 10 as described above. As can be seen in FIG. 47, inat least one example, the elongate shaft assembly 4200 includes anarticulation lock 2350. As was discussed in detail above, thearticulation lock assembly 2350 includes a proximal lock adapter 2360that is coupled (e.g., pinned) to a first distal articulation driver4370. As can be seen in FIGS. 47 and 50, the first distal articulationdriver 4370 includes a first proximal gear rack segment 4371 and a firstdistal gear rack segment 4373 formed on a distal end 4372 thereof. Theelongate shaft assembly 4200 also includes a second distal articulationdriver 4380 that includes a second proximal gear rack segment 4381 and asecond distal gear rack segment 4383 that is formed on a distal end 4382thereof.

The first distal articulation driver 4370 and the second distalarticulation driver 4380 are configured to move axially relative to thedistal spine assembly 4212 in the proximal direction “PD” and the distaldirection “DD”. As can be seen in FIG. 50, the first proximal gear racksegment 4371 and the second proximal gear rack segment 4381 are inmeshing engagement with a proximal power transfer gear 4390 that isrotatably supported by the distal spine assembly 4212. Likewise, thefirst distal gear rack segment 4373 and the second distal gear racksegment 4383 are in meshing engagement with a distal power transfer gearassembly 4392. In particular, in at least one arrangement, the distalpower transfer gear assembly 4392 includes a pinion gear 4393 that is inmeshing engagement with the first distal gear rack segment 4373 and thesecond distal gear rack segment 4383. The distal power transfer gearassembly 4392 further includes a drive gear 4394 that is arranged inmeshing engagement with an idler gear 4395. The idler gear 4395 is, inturn, supported in meshing engagement with a driven gear 4306 that isformed on the proximal end portion 4320 of the elongate channel 4302 ofa surgical end effector 4300. The surgical end effector 4300 mayotherwise be similar to the surgical end effector 2300 and include ananvil 4310 that may be opened and closed in the various mannersdescribed above. Referring to FIGS. 48, 49 and 51, the distal spineassembly 4212 may comprise an upper spine portion 4212A and a lowerspine portion 4212B. The distal power transfer gear assembly 4392, theidler gear 4395 and the driven gear portion 4306 of the elongate channel4302 are each pivotally attached to or supported on the bottom portion4212B of the distal spine assembly 4212.

The elongate shaft assembly 4200 depicted in FIG. 47 includes a firingbeam assembly 3280 that is attached to a firing member (not shown). Thefiring beam assembly 3280 may comprise a laminated beam arrangement ofthe types described herein. Operation of the firing member was describedin detail above and will not be repeated for the sake of brevity. As canalso be seen in FIG. 47, a firing beam support member 4400 of the typedisclosed in U.S. Pat. No. 9,943,309, entitled SURGICAL INSTRUMENTS WITHARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORTARRANGEMENTS, the entire disclosure of which is hereby incorporated byreference herein, is employed to provide support to the firing beamassembly 3280 during articulation of the surgical end effector 4300.FIG. 52 illustrates use of a distal firing beam assembly 2280 in anelongate shaft assembly 4200. As can be seen in that Figure, a pluralityof lateral load carrying members 2290 are employed in the mannerdescribed above to provide support to the distal firing beam assembly2280 as the surgical end effector 4300 is articulated.

FIGS. 53-58 illustrate another elongate shaft assembly 5200 that is, insome aspects, similar to the elongate shaft assembly 2200 describedabove, except for various differences discussed in further detail below.Those components of the elongate shaft assembly 5200 that have beendiscussed in detail above with respect to the elongate shaft assembly2200 will be identified with like element numbers and, for the sake ofbrevity, will not be further discussed in great detail beyond that whichmay be necessary to understand the operation of the elongate shaftassembly 5200 when, for example, employed with portions of the surgicalinstrument 10 as described above.

Similar to the elongate shaft assembly 2200, the illustrated elongateshaft assembly 5200 includes a clutch assembly 2400 which is configuredto operably engage an articulation system 5600 that is configured toapply push and pulling articulation motions to the surgical end effector300 that is operably coupled thereto. In this embodiment, the clutchassembly 2400 includes a lock collar, or lock sleeve 2402, that ispositioned around the firing member 2220 wherein the lock sleeve 2402can be rotated between an engaged position in which the lock sleeve 2402operably engages the articulation system 5600 to the firing member 2220and a disengaged position in which the articulation system 5600 is notoperably coupled to the firing member 2220. Referring specifically toFIGS. 54-56, in the illustrated example, the articulation system 5600comprises an articulation disc or rotary member 5602 that is supportedfor rotational movement within the nozzle 201. The articulation disc5602 is rotatably driven by a drive connection assembly 5610. In theillustrated example, the drive connection assembly 5610 includes a drivepin 5612 that is attached to the articulation disc 5602. An articulationdrive link 5614 is operably attached to the drive pin 5612 by aconnector 5616 that facilitates some movement of the articulation drivelink 5614 relative to the drive pin 5612. See FIGS. 54-56. Thearticulation drive link 5614 includes a drive coupler 5618 that isconfigured to drivingly engage the outwardly facing lock member 2406 onthe lock sleeve 2402. See FIG. 53.

As discussed above, the lock sleeve 2402 can comprise a cylindrical, orat least a substantially cylindrical body including a longitudinalaperture 2403 defined therein configured to receive the firing member2220. See FIG. 53. The lock sleeve 2402 can comprisediametrically-opposed, inwardly-facing lock protrusions 2404 and anoutwardly-facing lock member 2406. The lock protrusions 2404 can beconfigured to be selectively engaged with the firing member 2220. Moreparticularly, when the lock sleeve 2402 is in its engaged position, thelock protrusions 2404 are positioned within a drive notch 2224 definedin the firing member 2220 such that a distal pushing force and/or aproximal pulling force can be transmitted from the firing member 2220 tothe lock sleeve 2402. When the lock sleeve 2402 is in its engagedposition, the outwardly facing lock member 2406 is received within adrive notch 5619 in the drive coupler 5618 as shown in FIG. 53 such thatthe distal pushing force and/or the proximal pulling force applied tothe lock sleeve 2402 can be transmitted to the articulation drive link5614. In effect, the firing member 2220, the lock sleeve 2402, and thearticulation drive link 5614 will move together when the lock sleeve2402 is in its engaged position. On the other hand, when the lock sleeve2402 is in its disengaged position, the lock protrusions 2404 may not bepositioned within the drive notch 2224 of the firing member 2220 and, asa result, a distal pushing force and/or a proximal pulling force may notbe transmitted from the firing member 2220 to the lock sleeve 2402.Correspondingly, a drive force “DF” may not be applied to thearticulation disc 5602. In such circumstances, the firing member 2220can be slid proximally and/or distally relative to the lock sleeve 2402and the proximal articulation driver 2230.

As was also discussed above, the elongate shaft assembly 5200 furtherincludes a switch drum 2500 that is rotatably received on the closuretube 2260. See FIG. 53. The switch drum 2500 comprises a hollow shaftsegment 2502 that has a shaft boss 2504 formed thereon for receive anoutwardly protruding actuation pin 2410 therein. In variouscircumstances, the actuation pin 2410 extends into a longitudinal slot2401 provided in the lock sleeve 2402 to facilitate axial movement ofthe lock sleeve 2402 when it is engaged with the articulation drive link5614. A rotary torsion spring 2420 is configured to engage the boss 2504on the switch drum 2500 and a portion of the nozzle housing 201 to applya biasing force to the switch drum 2500. As also discussed above, theswitch drum 2500 can further comprise at least partially circumferentialopenings defined therein which can be configured to receivecircumferential mounts extending from the nozzle halves and permitrelative rotation, but not translation, between the switch drum 2500 andthe nozzle housing 201. As described above, rotation of the switch drum2500 will ultimately result in the rotation of an actuation pin 2410 andthe lock sleeve 2402 between its engaged and disengaged positions. Thus,in essence, the nozzle housing 201 may be employed to operably engageand disengage the articulation system 5600 with the firing drive systemin the various manners described above as well as in U.S. patentapplication Ser. No. 13/803,086, now U.S. Patent Application PublicationNo. 2014/0263541.

Referring again to FIGS. 53-56, the articulation system 5600 of theillustrated example, further includes a “first” or right articulationlinkage 5620 and a “second” or left articulation linkage 5640. The firstarticulation linkage 5620 includes a first articulation link 5622 thatincludes a first articulation pin 5624 that is movably received within afirst articulation slot 5604 in the articulation disc 5602. The firstarticulation link 5622 is movably pinned to a first articulationconnector 5626 that is configured to engage an articulation lock 2350.As discussed above, the articulation lock 2350 can be configured andoperated to selectively lock the surgical end effector 300 in position.Such arrangement enables the surgical end effector 300 to be rotated, orarticulated, relative to the shaft closure tube 2260 when thearticulation lock 2350 is in its unlocked state. When the articulationdrive link 5614 is operably engaged with the firing member 2220 via theclutch system 2400, further to the above, the firing member 2220 canrotate the articulation disc 6502 to move the first articulation linkage5620 proximally and/or distally. Movement of the first articulationconnector 5626 of the first articulation linkage 5620, whether it isproximal or distal, can unlock the articulation lock 2350 as wasdescribed above. The proximal lock adapter 2360 includes a lock cavity2362 for receiving therein first lock elements 2364 and second lockelements 2366 that are journaled on a frame rail that extends betweenthe proximal frame 2210 and the distal frame. Operation of thearticulation lock 2350 operates in the various manners described aboveand, for the sake of brevity, will not be further discussed herein. Ascan be seen in FIG. 53, a first distal articulation driver 5370 isattached to the proximal lock adapter 2360. The first distalarticulation driver 5370 is operably attached to the proximal end 320 ofthe elongate channel 302 of the surgical end effector 300.

As was also indicated above, the articulation system 5600 of theillustrated example, further includes a “second” or left articulationlinkage 5640. As can be seen in FIGS. 54-56, the second articulationlinkage 5640 includes a second articulation link 5642 that includes asecond articulation pin 5644 that is movably received within a secondarticulation slot 5606 in the articulation disc 5602. The secondarticulation link 5642 is pinned to a second articulation bar 5646 thatis attached to the proximal end 320 of the elongate channel 302 of thesurgical end effector 300. Referring to FIG. 54, the articulation system5600 further includes a first articulation biasing member 5628 that isreceived within the first articulation slot 5604 and a secondarticulation biasing member 5648 that is received within the secondarticulation slot 5606. FIG. 54 illustrates the articulation system 5600in a neutral or unarticulated configuration. As can be seen in thatFigure, the first articulation pin 5624 is in contact with the firstarticulation biasing member 5628 and the second articulation pin 5644 isin contact with the second articulation biasing member 5648. However,when in that neutral position, the first and second articulation biasingmembers 5628, 5648 may not be in a compressed state. FIG. 55 illustratesapplication of the drive force “DF” to the articulation disc 5602 in theproximal direction “PD” by the articulation drive link 5614 in theabove-described manner. Application of the drive force DF in theproximal direction PD results in rotation of the articulation disc 5602in the rotary direction represented by arrow 5601. As the articulationdisc 5602 rotates in the rotary direction 5601, the end of the secondarticulation slot contacts the second articulation pin 5644 and appliesa pushing force to the second articulation linkage 5640 and ultimatelyto the second articulation bar 5646. Conversely, the first articulationbiasing member 5628 urges the first articulation pin 5624 in thedirection of arrow 5601 within the first articulation slot 5604 suchthat a pulling force is applied to the first articulation linkage 5620in the proximal direction “PD”. This proximal pulling force istransmitted to the first distal articulation driver 5370 through thearticulation lock 2350. Such “pushing and pulling motions” as applied tothe surgical end effector causes the surgical end effector 300 toarticulate about the articulation axis in the direction represented byarrow 5300. See FIG. 53. When the articulation disc 5602 is in theposition illustrated in FIG. 55, the second articulation biasing member5648 may be in a compressed state and the first articulation biasingmember may not be compressed. Thus, when the application of drive forceDF to the articulation drive link 5614 is discontinued, the secondarticulation biasing member 5648 may bias the articulation disc 5602back to the neutral position shown in FIG. 54, for example.

Conversely, when the drive force “DF” is applied to the articulationdrive link 5614 in the distal direction “DD” as shown in FIG. 56, thearticulation disc 5602 rotates in the rotary direction represented byarrow 5603. As the articulation disc 5602 rotates in the rotarydirection 5603, the end of the first articulation slot 5604 contacts thefirst articulation pin 5624 and applies a pushing force to the firstarticulation linkage 5620 and ultimately to the first distalarticulation driver 5370 through the articulation lock 2350. Inaddition, the second articulation biasing member 5648 urges the secondarticulation pin 5644 in the direction of arrow 5603 within the secondarticulation slot 5606 such that a pulling force is applied to thesecond articulation linkage 5640 in the proximal direction “PD”. Thisproximal pulling force is transmitted to the second articulation bar5646. Such “pushing and pulling motions” as applied to the surgical endeffector 300 causes the surgical end effector 300 to articulate aboutthe articulation axis in the direction represented by arrow 5302. SeeFIG. 53. When the articulation disc 5602 is in the position illustratedin FIG. 56, the first articulation biasing member 5628 may be in acompressed state and the second articulation biasing member 5648 may notbe compressed. Thus, when the application of drive force DF to thearticulation drive link 5614 is discontinued, the first articulationbiasing member 5628 may bias the articulation disc 5602 back to theneutral position shown in FIG. 54, for example.

FIG. 57 illustrates the attachment of the distal end portion 814 of theshaft frame 812 to the surgical end effector 300 that is operablycoupled to the elongate shaft assembly 5200. As described above, thedistal end portion 814 has a downwardly protruding pivot pin (not shown)thereon that is adapted to be pivotally received within a pivot hole(not shown) that is formed in the proximal end portion 320 of theelongate channel 302. Such arrangement facilitates pivotal travel of theelongate channel 302 relative to the shaft frame 812 about anarticulation axis B-B defined by the pivot hole. As can also be seen inFIG. 57, the first distal articulation driver 5370 is attached to afirst coupler 850 by a first ball joint 852. The first coupler 850 isalso pivotally pinned to the proximal end portion 320 of the elongatechannel 302 by a first pin 854 as can be seen in FIG. 57. Similarly, thesecond articulation bar 5646 is attached to a second coupler 870 by asecond ball joint 872. The second coupler 870 is also pivotally pinnedto the proximal end portion 320 of the elongate channel 302 by a secondpin 874 as can be seen in FIG. 57.

Referring to FIGS. 53 and 58, the elongate shaft assembly 5200 may alsoinclude a firing beam assembly 2280 that is attached to a firing member900 of the type described above. The firing beam assembly 2280 isattached to the firing member 2220 and may be axially advanced andretracted in the various manners described above. The elongate shaftassembly 5200 may further comprise a multiple support link assembly 920for providing lateral support to the distal firing beam 2280 as thesurgical end effector 300 is articulated about the articulation axisB-B. As can be seen in FIG. 58, the multiple support link assembly 920comprises a middle support member 922 that is pivotally pinned to theproximal end 320 of the elongate channel 302 in the manners describedabove. The middle support member 922 further includes centrally disposedslot 930 for axially receiving the distal firing beam 2280 therethrough.The multiple support link assembly 920 further comprises a proximalsupport link 940 and a distal support link 950. The proximal supportlink 940 includes a body portion 942 that has a rounded proximal end 943and a rounded distal end 944. The proximal support link 940 furtherincludes a pair of downwardly protruding lateral support walls 945 thatdefine a proximal slot therebetween. Similarly, the distal support link950 includes a body portion 952 that has a rounded proximal end 953 anda rounded distal end 954. The distal support link 950 further includes apair of downwardly protruding lateral support walls 955 that define adistal slot therebetween. As can be seen in FIG. 58, the distal firingbeam 2280 is configured to extend between the lateral support walls 945of the proximal support link 940 and the lateral support walls 955 ofthe distal support link 950. Each support wall 945 and 955 includes aninwardly facing arcuate surface as was described above. The supportsurfaces serve to provide lateral support to the distal firing beam 2280as it flexes during articulation of the surgical end effector 300. Inaddition, the closure tube assembly 2260 may include a double pivotclosure sleeve assembly of the type described above that is configuredto operably interact with the anvil on the surgical end effector 300.Operation of the closure tube assembly 2260 results in the opening andclosing of the anvil of the surgical effector in the various mannersdescribed above.

FIG. 59 illustrates a portion of another elongate shaft assembly 5700that may be substantially similar to the elongate shaft assembly 5200except for the differences discussed below. In particular, thearticulation disc 5702 of the articulation system 5701 is rotated by aworm gear motor 5710 that is operably supported in the nozzle housing201. In one embodiment, for example, a driven gear 5703 is integrallyformed or otherwise non-movably attached to the articulation disc 5702such that it is in meshing engagement with the worm gear drive 5712 ofthe motor 5710. In the illustrated example, a first articulation rod ormember 5720 may be directly attached to a portion of a surgical endeffector in any of the various manners described herein. A firstarticulation pin 5722 is attached to the first articulation rod 5720 andis received within an arcuate first articulation slot 5704 formed in thearticulation disc 5702. A first articulation biasing member 5705 isreceived within the first articulation slot 5704 for biasing contactwith the first articulation pin 5722. Likewise, a second articulationrod or member 5730 may be directly or indirectly attached to a portionof a surgical end effector in any of the various manners describedherein. A second articulation pin 5732 is attached to the secondarticulation rod 5730 and is received within an arcuate secondarticulation slot 5706 formed in the articulation disc 5702. A secondarticulation biasing member 5707 is received within the secondarticulation slot 5706 for biasing contact with the second articulationpin 5732.

FIG. 59 illustrates the articulation system 5701 in a neutral orunarticulated configuration. As can be seen in that Figure, the firstarticulation pin 5722 is in contact with the first articulation biasingmember 5705 and the second articulation pin 5732 is in contact with thesecond articulation biasing member 5707. However, when in that neutralposition, the first and second articulation biasing members 5705, 5707may not be in a compressed state. Actuation of the motor 5710 to rotatethe articulation disc 5702 in the rotary direction represented by arrow5601 will apply a pulling motion to the first articulation rod 5720 tocause the first articulation rod 5720 to move in the proximal direction“PD” as well as to apply a pushing motion to the second articulation rod5730 to cause the second articulation rod 5730 to move in the distaldirection “DD”. Conversely, actuation of the motor 5710 to rotate thearticulation disc 5702 in the rotary direction represented by arrow 5603will apply a pushing motion to the first articulation rod 5720 to causethe first articulation rod 5720 to move in the distal direction “DD” aswell as to apply a pulling motion to the second articulation rod 5730 tocause the second articulation rod 5730 to move in the proximal direction“PD”. Such “pushing and pulling motions” as applied to the surgical endeffector, causes the surgical end effector to articulate about thearticulation axis in the various manners described above.

FIGS. 60-65 illustrate another articulation system 5800 that may beemployed with various elongate shaft assemblies and effectorarrangements described herein. In this embodiment, however, thearticulation system 5800 comprises a dual articulation disc assembly5810 that comprises a driver articulation disc 5820 and a drivenarticulation disc 5830. Both of the articulation discs 5820, 5830 may,for example, be rotatably supported within the nozzle housing of theelongate shaft assembly such that both discs 5820, 5830 areindependently rotatable about a common axis. In various embodiments,drive motions may be applied to the driver articulation disc 5820 by anarticulation drive link 5614 and firing member arrangement 2220 as wasdescribed above. In other embodiments, rotary drive motions may beapplied to the driver articulation disc 5820 by a worm gear motor 5710in the manner described above.

FIG. 61 illustrates one form of a driver disc 5820. As can be seen inthat Figure, the driver disc 5820 includes a first pair of first arcuatearticulation slots 5822L, 5822R that each has a first arcuate length“FL”. In addition, the driver articulation disc 5820 further includes adriver slot 5824 that is centrally disposed between the firstarticulation slots 5822 as can be seen in FIG. 61. Depending upon themethod employed to drive the driver articulation disc 5820, thearticulation drive link 5614 or the worm gear motor 5710 may interfacewith the driver articulation disc 5820 in the various manners describedabove to apply rotary motions to the driver articulation disc 5820. FIG.62 illustrates one form of a driven articulation disc 5830. As can beseen in that Figure, the driven articulation disc 5830 includes a secondpair of second arcuate articulation slots 5832L, 5832R that each have asecond arcuate length “SL” that is less than the first arcuate length“FL”. In addition, the driven articulation disc 5830 further includes adriver post 5834 that is configured to be movably received within thedriver slot 5824.

Referring now to FIGS. 60 and 63-65, the articulation system 5800further comprises a first articulation rod 5840 that may be directly orindirectly attached to a portion of a surgical end effector in any ofthe various manners described herein. A first articulation pin 5842 isattached to the first articulation rod 5720 and is received withincorresponding first and second arcuate articulation slots 5822L, 5832L.Likewise, a second articulation rod or member 5850 may be directlyattached to a portion of the same surgical end effector in any of thevarious manners described herein. A second articulation pin 5852 isattached to the second articulation rod 5850 and is received withincorresponding first and second arcuate articulation slots 5822R, 5832R.FIG. 60 illustrates the articulation system 5800 in a null positionwherein the surgical end effector may be freely moved. FIG. 63illustrates the position of the articulation system 5800 upon an initialapplication of rotary motion to the driver articulation disc 5820 in thedirection represented by arrow 5860. As can be seen in that Figure, uponinitial rotation of the driver articulation disc 5820, the articulationslots 5822L, 5832L are offset from each other and the articulation slots5822R, 5832R are offset from each other, but no motion has yet beentransferred to articulation rods 5840, 5850. FIG. 64 illustrates theposition of the articulation system 5800 upon continued application ofthe rotary motion to the driver articulation disc 5820 in the directionof arrow 5860 sufficient enough to result in, for example, aseventy-five degree of articulation of the surgical end effectorrelative to the shaft axis. As can be seen in that Figure, a pushingmotion is applied to the first articulation rod 5840 to cause the firstarticulation rod 5840 to axially move in the distal direction “DD” and apulling motion is applied to the second articulation rod 5850 to causethe second articulation rod 5850 to axially move in the proximaldirection “PD”. The movement of the first and second articulation rods5840, 5850 in opposite directions results in the articulation of thesurgical end effector operably interfacing therewith. FIG. 65illustrates the position of the articulation system 5800 uponapplication of the rotary motion to the driver articulation disc 5820 inan opposite direction represented by arrow 5862 that is sufficientenough to result in, for example, a seventy-five degree of articulationof the surgical end effector relative to the shaft axis in an oppositearticulation direction. As can be seen in that Figure, a pushing motionis applied to the second articulation rod 5850 to cause the secondarticulation rod 5850 to axially move in the distal direction “DD” and apulling motion is applied to the first articulation rod 5840 to causethe first articulation rod 5840 to axially move in the proximaldirection “PD”. Such opposing movements of the first and secondarticulation rods 5840, 5850 result in the articulation of the surgicalend effector that is operably attached thereto. In one configuration,the first articulation rod 5840 may only apply a pulling force to thesurgical end effector when the articulation driver disc 5820 has beenrotated a sufficient distance as to attain a seventy-five degree rangeof articulation.

FIGS. 66-70 illustrate a surgical end effector 6300 that comprises firstand second jaws that are simultaneously movable between open and closedpositions relative to the shaft axis SA-SA. The first and second jawsmay comprise a variety of surgical jaw arrangements without departingfrom the spirit and scope of the present invention. Gaining access totarget tissue with the jaws of a surgical end effector can, at times, bechallenging. The maneuverability of a surgical end effector,particularly a surgical end effector that is configured to cut andstaple tissue, may be enhanced if the distance between the point atwhich the jaws are supported relative to each other and theproximal-most staple locations is minimized. For example, those surgicalend effectors that only employ one movable jaw (i.e., one of the jaws isfixed relative to the shaft axis) may require that the one movable jawhave a relatively large range of travel in order to accommodate thetarget tissue. Such larger range of travel can complicate the process ofusing the end effector to advantageously position the target tissue. Thesurgical end effector 6300 employs first and second jaws that moverelative to each other and the shaft axis about a common pivot axis.Such arrangement enables the distance between the pivot axis and theproximal-most staple locations to be shortened when compared to the samedistance on certain surgical end effectors that employ only one movablejaw, for example.

In the illustrated example, a first jaw 6310 includes an elongatechannel 6312 that is configured to support a surgical staple cartridge6320 therein. As can be seen in FIG. 70, the surgical staple cartridge6320 is configured to operably support a plurality of staple drivers6322 therein that operably support surgical staples 6324 thereon. Thestaple drivers 6322 are movably supported within corresponding driverslots 6321 formed in the surgical staple cartridge 6320. The stapledrivers 6322 are retained within their respective driver slot 6321 by acartridge pan 6330 that clips to or is otherwise attached to thesurgical staple cartridge 6320. The staple drivers 6322 are arranged inrows on each side of an elongate slot 6326 in the surgical staplecartridge 6320 to accommodate the axial passage of a firing member 6340therethrough. A wedge sled 6350 is movably supported within the surgicalstaple cartridge 6320 and is configured to be drivingly engaged by thefiring member 6340 as the firing member 6340 is driven from a startingposition adjacent to the proximal end of the surgical staple cartridge6320 and an ending position within a distal portion of the surgicalstaple cartridge 6320. As was discussed above, as the wedge sled 6350 isdriven in the distal direction through the surgical staple cartridge6320, the wedge sled 6350 drivingly contacts the staple drivers 6322 todrive them toward the cartridge deck surface 6323. The firing member6340 includes a tissue cutting surface 6346 that serves to cut thetissue clamped between the jaws as the firing member 6340 is drivendistally. A distal firing beam (not shown) of the various typesdescribed herein is operably attached to the firing member 6340 as wellas to an intermediate firing shaft portion 2222 or other firing systemarrangement. Operation of the intermediate firing shaft portion 2222 todrive and retract the distal firing beam was discussed in detail aboveand will not be repeated for the sake of brevity. Other firing beam andfiring system arrangements (motor-powered as well as manually-powered)may also be employed to power the firing member without departing fromthe spirit and scope of the present invention.

The illustrated surgical end effector 6300 is also configured forselective articulation about an articulation axis B-B that issubstantially transverse to the shaft axis SA-SA. As can be seen inFIGS. 66-70, the surgical end effector 6300 includes an end effectormounting assembly 6390 that is adapted to be pivotally mounted to, forexample, a distal shaft frame (not shown) that includes a pivot pin thatis configured to be rotatably received within the mounting hole 6392 inthe end effector mounting assembly 6390. The surgical end effector 6300may be articulated by an articulation lock and first and secondarticulation rod arrangements of the type described above. As can beseen in FIG. 70, the end effector mounting assembly 6390 furtherincludes a pair of opposed, laterally extending trunnion pins 6394. Thetrunnion pins 6394 extend laterally from the opposed lateral sides 6391of the end effector mounting assembly 6390 that also define a pocketarea 6395 that is configured to receive the firing member 6340 therein.The trunnion pins 6394 serve to define a pivot axis PA-PA about whichthe first and second jaws 6310, 6360 may pivot. The proximal end 6314 ofthe first jaw 6310 or elongate channel 6312 includes a pair of opposedU-shaped or open ended slots 6316 that are adapted to receive acorresponding one of the trunnion pins 6394 therein. Such arrangementserves to movably or pivotally journal the first jaw 6310 to the endeffector mounting assembly 6390.

The illustrated surgical end effector 6300 further comprises a secondjaw 6360 that may comprise an anvil 6362. The illustrated anvil 6362includes an anvil body 6364 that includes an elongate slot 6366 and twostaple forming surfaces 6368 formed on each side thereof. The anvil 6362further has a proximal end portion 6370 that has a pair of U-shaped oropen ended slots 6372 that are also adapted to receive a correspondingone of the trunnion pins 6394 therein. Such arrangement serves tomovably or pivotally journal the second jaw 6360 to the end effectormounting assembly 6390 such that the first and second jaws may moverelative to each other as well as to relative to the shaft axis SA-SA.The first and second jaws 6310 and 6360 may be movably actuated by aclosure system of the various types disclosed herein. For example, afirst closure drive system of the type described herein may be employedto actuate a closure tube in the above-described manner. The closuretube may also be attached to an end effector closure sleeve 6272 thatmay be pivotally attached to the closure tube by a double pivot closuresleeve assembly in the manner described above. As was described above,for example, axial movement of the closure tube may be controlledthrough actuation of a closure trigger 32. As can be seen in FIGS.67-69, the end effector closure sleeve 6272 extends over the endeffector mounting assembly 6390 and is configured to engage the proximalend 6370 of the second jaw 6360 as well as the proximal end 6314 of thefirst jaw 6310. At least one cam surface 6336 may be formed on theproximal end 6314 of the first jaw 6310 such that when the distal end6274 of the end effector closure sleeve 6272 contacts the cam surface(s)6336, the first jaw 6310 is cammed toward the second jaw and the shaftaxis SA-SA. Likewise, one or more cam surfaces 6376 may be formed on theproximal end portion 6370 of the second jaw 6360 such that whencontacted by the distal end 6274 of the end effector closure sleeve6272, the second jaw 6360 is moved toward the first jaw 6310 and theshaft axis SA-SA. The cam surfaces 6336, 6376 may be configured andpositioned relative to each other such that the first and second jawsclose at different “closure rates” or closure times relative to eachother. One such arrangement is depicted in FIG. 68. As can be seen inFIG. 68, the distance along an arcuate path between a point P₁ on thefirst jaw 6310 and a corresponding point P₂ on the second jaw 6360 whenthe first and second jaws are in their respective fully opened positionis represented by D_(T). The first and second points P₁ and P₂ are saidto “correspond to” each other. For example, the first point P₁ and thesecond point P₂ may each lie on a common line or axis that extendstherebetween and is perpendicular to the shaft axis SA-SA. The distancealong an arcuate path between another point P_(A) on the first jaw 6310and the shaft axis SA-SA is represented by D₁ and the distance alonganother arcuate path between another corresponding point P_(B) on thesecond jaw and the shaft axis SA-SA is represented by D₂. Point P_(A)and point P_(B) are also said to correspond to each other. For example,point P_(A) and point P_(B) may lie on a common line or axis thatextends therebetween and which is perpendicular to the shaft axis SA-SA.In the illustrated arrangement, the distance D₂ that the second jaw 6360or anvil 6362 moves from the fully open to the closed position whereinthe staple-forming surface of the anvil 6362 lies along the shaft axisSA-SA is greater than the distance D₁ that the first jaw 6310 orsurgical staple cartridge 6320 moves from the fully open position to theclosed position wherein the cartridge deck surface lies along the shaftaxis SA-SA. For example, in at least one arrangement, the second jaw oranvil will open or move ⅔ of the distance D_(T) (or another distancealong another travel path between the jaws) and the first jaw or staplecartridge will open or move ⅓ of the distance D_(T) (or other distancealong yet another travel path between the jaws), so that, in essence,one jaw attains its fully closed position quicker or faster than theother jaw attains its fully closed position even though a closure motionor motions were initially applied to both jaws at the same or similartimes. For example, the cam surfaces on the first and second jaws may bearranged/configured to attain different jaw-movement ratios/rateswithout departing from the spirit and scope of this embodiment of thepresent invention. An opening spring 6380 (FIG. 70) may be positionedbetween the proximal end 6314 of the first jaw 6310 and the proximal end6370 of the second jaw 6360 to bias the first and second jaws 6310, 6360to the open position when the end effector closure sleeve 6272 ispositioned in the starting or unactuated position. See FIGS. 67-69.

To move the first and second jaws 6310, 6360 to a closed position (FIG.66), the clinician actuates the closure system to move the end effectorclosure sleeve 6272 in the distal direction “DD” to simultaneouslycontact the cam surface(s) 6336 on the proximal end 6314 of the firstjaw 6310 and the cam surface(s) 6376 on the proximal end 6370 of thesecond jaw 6360 to bias the first and second jaws 6310, 6360 towardseach other (and shaft axis SA-SA) to the position shown in FIG. 66.While the end effector closure sleeve 6272 is retained in that position,the first and second jaws 6310 and 6360 are retained in that closedposition. Thereafter, the firing system may be actuated to axiallyadvance the firing member 6340 distally through the surgical endeffector 6300. As can be seen in FIG. 70, the firing member 6340 mayhave a foot portion 6342 that is configured to slidably engage a slottedpassage 6374 of the anvil 6362 and a top tab portion 6344 that isadapted to be slidably received within a slotted passage 6318 in theelongate channel 6312. See FIG. 69. Thus, such firing member arrangementserves to positively retain the first and second jaws 6310, 6360 at adesired spacing arrangement during firing of the firing member (i.e.,during firing of the staples and cutting of the tissue that is clampedbetween the first and second jaws 6310, 6360). A first jaw cover 6315 isremovably attached to the elongate channel 6312 and a second jaw cover6363 is removably attached to the anvil 6362 for assembly purposes aswell as to prevent the infiltration of tissue and/or body fluid into thefirst and second jaws which may hamper or interfere with operation ofthe firing member 6340.

FIG. 71 illustrates another surgical end effector 6300′ that is similarto surgical end effector 6300. As can be seen in that Figure, thesurgical end effector 6300′ comprises two jaws that are simultaneouslymovable between open and closed positions relative to the shaft axisSA-SA. In the illustrated example, a first jaw 6310′ includes anelongate channel 6312′ that is configured to support a surgical staplecartridge 6320′ therein. The surgical staple cartridge 6320′ isconfigured to operably support a plurality of staple drivers 6322therein that operably support surgical staples 6324 thereon. The stapledrivers 6322 are movably supported within corresponding driver pockets6321′ formed in the surgical staple cartridge 6320′. The staple drivers6322 are retained within their respective driver pocket 6321′ by acartridge pan 6330′ that clips to or is otherwise attached to thesurgical staple cartridge 6320′. The staple drivers 6322 are arranged inrows on each side of an elongate slot 6326′ in the surgical staplecartridge 6320 to accommodate the axial passage of a firing member 6340′therethrough. A wedge sled 6350′ is movably supported within thesurgical staple cartridge 6320′ and is configured to be driving engagedby the firing member 6340′ as the firing member 6340′ is driven from astarting position adjacent to the proximal end of the surgical staplecartridge 6320′ and an ending position within a distal portion of thesurgical staple cartridge 6320′. As was discussed above, as the wedgesled 6350′ is driven in the distal direction through the surgical staplecartridge 6320′, the wedge sled 6350′ drivingly contacts the stapledrivers 6322 to drive them toward the cartridge deck surface 6323′. Thefiring member 6340′ includes a tissue cutting surface 6346′ that servesto cut the tissue clamped between the jaws as the firing member 6340 isdriven distally. A distal firing beam (not shown) of the various typesdescribed herein is operably attached to the firing member 6340′ as wellas to an intermediate firing shaft portion 2222 or other firing systemarrangement. Operation of the intermediate firing shaft portion 2222 todrive and retract the distal firing beam was discussed in detail aboveand will not be repeated for the sake of brevity. Other firing beam andfiring system arrangements (motor-powered as well as manually-powered)may also be employed to power the firing member without departing fromthe spirit and scope of the present invention.

The illustrated surgical end effector 6300′ is also configured forselective articulation about an articulation axis B-B that issubstantially transverse to the shaft axis SA-SA. The end effector 6300′includes an end effector mounting assembly 6390′ that is adapted to bepivotally mounted to, for example, a distal shaft frame that includes apivot pin configured to be rotatably received within a mounting hole6392′ in the end effector mounting assembly 6390′. The surgical endeffector 6300′ may be articulated by an articulation lock and first andsecond articulation rod arrangements of the type described above. As canbe seen in FIG. 71, the end effector mounting assembly 6390′ furtherincludes a pair of opposed, laterally extending trunnion pins 6394′. Thetrunnion pins 6394′ extend laterally from the opposed lateral sides6391′ of the end effector mounting assembly 6390′ that also define apocket area 6395′ that is configured to receive the firing member 6340′therein. The trunnion pins 6394′ serve to define a pivot axis PA-PAabout which the first and second jaws 6310′, 6360′ may pivot. Theproximal end 6314′ of the first jaw 6310′ or elongate channel 6312′includes a pair of opposed U-shaped or open ended slots 6316′ that areadapted to receive a corresponding one of the trunnion pins 6394′therein. Such arrangement serves to movably or pivotally journal thefirst jaw 6310′ to the end effector mounting assembly 6390′.

The illustrated surgical end effector 6300′ further comprises a secondjaw 6360′ that may comprise an anvil 6362′. The illustrated anvil 6362′includes an anvil body 6364′ that includes an elongate slot 6366′ andtwo staple forming surfaces formed on each side thereof. The anvil 6362′further has a proximal end portion 6370′ that has a pair of U-shaped oropen ended slots 6372′ that are also adapted to receive a correspondingone of the trunnion pins 6394′ therein. Such arrangement serves tomovably or pivotally journal the second jaw 6360′ to the end effectormounting assembly 6390′. The first and second jaws 6310′ and 6360′ aremovably actuated by a closure system of the various types disclosedherein. For example, a first closure drive system 30 may be employed toactuate a closure tube 260 in the manner described herein. The closuretube 260 may also be attached to an end effector closure sleeve 6272that may be pivotally attached to the closure tube 260 by a double pivotclosure sleeve assembly 271 in the manner described above. As wasdescribed above, for example, axial movement of the closure tube 260 maybe controlled through actuation of a closure trigger 32. The endeffector closure sleeve 6272 extends over the end effector mountingassembly 6390′ and is configured to engage the proximal end 6370′ of thesecond jaw 6360′ as well as the proximal end 6314′ of the first jaw6310′. At least one cam surface 6336′ may be formed on the proximal end6314′ of the first jaw 6310′ such that when the distal end 6274 of theend effector closure sleeve 6272 contacts the cam surfaces 6336′, thefirst jaw 6310′ is cammed toward the second jaw 6360′ and the shaft axisSA-SA. Likewise, one or more cam surfaces 6376′ may be formed on theproximal end portion 6370′ of the second jaw 6360′ such that whencontacted by the distal end 6274 of the end effector closure sleeve6272, the second jaw 6360′ is moved toward the first jaw 6310′ and theshaft axis SA-SA. A spring (not shown) may b positioned between theproximal end 6314′ of the first jaw 6310′ and the proximal end 6370′ ofthe second jaw 6360′ to bias the first and second jaws 6310′, 6360′ tothe open position when the end effector closure sleeve 6272 ispositioned in the starting or unactuated position.

To move the first and second jaws 6310′, 6360′ to a closed position, theclinician actuates the closure system to move the end effector closuresleeve 6272 in the distal direction “DD” to simultaneously contact thecam surface(s) 6336′ on the proximal end 6314′ of the first jaw 6310′and the cam surface(s) 6376′ on the proximal end 6370′ of the second jaw6360′ to bias the first and second jaws 6310′, 6360′ towards each other(and shaft axis SA-SA). While the end effector closure sleeve 6272 isretained in that position, the first and second jaws 6310′ and 6360′ areretained in that closed position. Thereafter, the firing system may beactuated to axially advance the firing member 6340′ distally through thesurgical end effector 6300′. The firing member 6340′ may have a top tabportion 6344′ that is configured to slidably engage a slotted passage6374′ of the anvil 6362′ and a foot portion 6342′ that is adapted to beslidably received within a slotted passage in the elongate channel6312′. Thus, such firing member arrangement serves to positively retainthe first and second jaws 6310′, 6360′ at a desired spacing arrangementduring firing of the firing member (i.e., during firing of the staplesand cutting of the tissue that is clamped between the first and secondjaws 6310′, 6360′). A first jaw cover 6315′ is removably attached to theelongate channel 6312′ and a second jaw cover 6363′ is removablyattached to the anvil 6362′ for assembly purposes as well as to preventthe infiltration of tissue and/or body fluid into the first and secondjaws which may hamper or interfere with operation of the firing member6340′.

The surgical end effector embodiments described herein that employ jawsthat both move relative to each other and relative to the shaft axis mayoffer various advantages over other surgical end effector arrangementswherein one of the jaws is fixed and does not move, for example relativeto the shaft axis. In such configurations, it is often desirable for theone movable jaw to have a relatively large range of movement relative tothe fixed jaw to enable the target tissue to be manipulated, positionedand then clamped therebetween. In the embodiments wherein both jaws aremovable, each jaw doesn't require as large of range of motion toaccommodate manipulation, positioning and clamping of the target tissuebetween the jaws. Such reduced movement of the anvil, for example, mayprovide for improved tissue positioning. Such arrangements may alsoenable the distance between the pivot axis and the first staplepositions to be minimized. In addition, the firing member may alwaysremain engaged with the movable jaws (anvil and elongate channel) evenduring opening and closing actions.

FIGS. 72-79 illustrate another surgical end effector 6400 that isconfigured to be operably attached to an elongate shaft assembly of thetypes described herein which define a shaft axis SA-SA. The surgical endeffector 6400 comprises two jaws that are simultaneously movable betweenopen and closed positions relative to the shaft axis SA-SA. The firstand second jaws may comprise a variety of different surgical related jawarrangements. In the illustrated example, a first jaw 6410 includes anelongate channel 6412 that is configured to support a surgical staplecartridge 6420 therein. As in the various surgical staple cartridgesdiscussed above, the surgical staple cartridge 6420 is configured tooperably support a plurality of staple drivers (not shown) therein thatoperably support surgical staples (not shown) thereon. The stapledrivers are movably supported within corresponding driver pockets formedin the surgical staple cartridge 6420. The staple drivers are arrangedin rows on each side of an elongate slot (not shown) in the surgicalstaple cartridge 6420 to accommodate the axial passage of a firingmember 6440 therethrough. A wedge sled (not shown) is movably supportedwithin the surgical staple cartridge 6420 and is configured to bedriving engaged by the firing member 6440 as the firing member 6440 isdriven from a starting position adjacent to the proximal end of thesurgical staple cartridge 6420 and an ending position within a distalportion of the surgical staple cartridge 6420. As was discussed above,as the wedge sled is driven in the distal direction through the surgicalstaple cartridge 6420, the wedge sled drivingly contacts the stapledrivers to drive them toward the cartridge deck surface (not shown). Thefiring member 6440 includes a tissue cutting surface 6446 that serves tocut the tissue clamped between the jaws as the firing member 6440 isdriven distally. A distal firing beam (not shown) of the various typesdescribed herein is operably attached to the firing member 6440 as wellas to an intermediate firing shaft portion 2222 or other firing systemarrangement. Operation of the intermediate firing shaft portion 2222 todrive and retract the distal firing beam was discussed in detail aboveand will not be repeated for the sake of brevity. Other firing beam andfiring system arrangements (motor-powered as well as manually-powered)may also be employed to power the firing member without departing fromthe spirit and scope of the present invention.

The illustrated surgical end effector 6400 is also configured forselective articulation about an articulation axis B-B that issubstantially transverse to the shaft axis SA-SA. As can be seen inFIGS. 72-79, the surgical end effector 6400 includes an end effectormounting assembly 6490 that is adapted to be pivotally mounted to, forexample, a distal shaft frame that includes a pivot pin that isconfigured to be rotatably received within the mounting hole 6492 in theend effector mounting assembly 6490. The surgical end effector 6400 maybe articulated by an articulation lock and first and second articulationrod arrangements of the type described above. As can be seen in FIG. 74,a pair of cam plates 6500 is non-movably attached by a spring pin 6502,for example, to the end effector mounting assembly 6490. As can befurther seen in FIG. 74, each cam plate 6500 has a cam slot 6504 thathas a closure wedge portion 6505 and an opening wedge portion 6507. Theclosure wedge portion 6505 is formed from two opposed closure camsurfaces 6506 and the opening wedge portion 6507 is formed from twoopposed opening cam surfaces 6508. The elongate channel 6412 includestwo proximally extending actuator arms 6416 that each has an openingtrunnion pinion 6418 and a closing trunnion pin 6419 protrudinglaterally therefrom. The opening and closing trunnion pins 6418 and 6419are received with the cam slot 6504 of a corresponding cam plate 6500.Such arrangement serves to movably or pivotally journal the first jaw6410 to the end effector mounting assembly 6490.

The illustrated surgical end effector 6400 further comprises a secondjaw 6460 that may comprise an anvil 6462. The illustrated anvil 6462includes an anvil body 6464 that includes an elongate slot 6466 and twostaple forming surfaces 6468 formed on each side thereof. The anvil 6462further has a proximal end portion 6470 that includes two proximallyextending actuator arms 6472 protruding therefrom. Each actuator arm6472 has an opening trunnion pinion 6474 and a closing trunnion pin 6476protruding laterally therefrom that are also received in the cam slot6504 of a corresponding cam plate 6500. Such arrangement serves tomovably or pivotally journal the second jaw 6460 to the end effectormounting assembly 6490.

The first and second jaws 6410 and 6460 are movably actuated by aclosure system of the various types disclosed herein. For example, afirst closure drive system 30 may be employed to actuate a closure tubein the manner described herein. The closure tube 260 may also beattached to an end effector closure sleeve 6572 that may be pivotallyattached to the closure tube by a double pivot closure sleeve assemblyin the manner described above. As was described above, for example,axial movement of the closure tube may be controlled through actuationof a closure trigger. As can be seen in FIGS. 77 and 78, the endeffector closure sleeve 6572 extends over the end effector mountingassembly 6490 as well as the actuator arms 6416 of the first jaw 6410and the actuator arms 6472 of the second jaw 6460. As the closure sleeve6572 is advanced distally, the distal end 6574 of the closure sleeve6572 contacts a proximal end 6411 of the first jaw 6410 and a proximalend 6461 of the second jaw 6460 and moves the first and second jaws6410, 6460 in the distal direction “DD”. As the first and second jaws6410, 6460 move distally, the closing trunnions 6419, 6476 enter theclosure wedge portion 6505 of the cam slot 6504 and the closure camsurfaces 6506 cam the first and second jaws 6410, 6460 toward each otherto a closed position (FIGS. 73, 75, 77 and 78).

To facilitate opening of the first and second jaws 6410, 6460 with theclosure sleeve 6572, the closure sleeve 6572 is provided with twoinwardly extending opening tabs 6576 that are configured to engage theclosure trunnions 6419, 6476 when the closure sleeve 6572 is retractedin the proximal direction “PD” by the closure system. As can be seen inFIGS. 72 and 76, for example, as the closure sleeve 6572 moves in theproximal direction “PD”, the opening tabs 6576 contact the closuretrunnions 6419, 6476 and drives the closure trunnions 6419, 6476 in theproximal direction as well. The proximal movement of the closuretrunnions 6419, 6476 causes the opening trunnions 6418 and 6474 to enterthe opening wedge portion 6507 of the cam plate slots 6504. The openingcam surfaces 6508 interact with the opening trunnions 6418, 6474 andcause the actuator arms 6416 and 6472 to rock open on their respectiverocker surfaces 6417 and 6475 as shown in FIGS. 76 and 79. As with theabove-described arrangements wherein both the first and second jaws moverelative to the shaft axis SA-SA, the closure wedge portion 6505 and theopening wedge portion 6507 may be configured so that the first andsecond jaws close at different closure rates or closure times relativeto each other upon application of a closure motion thereto.

FIGS. 80-84 illustrate another surgical end effector 7400 that comprisestwo jaws wherein one jaw is movable relative to the other jaw betweenopen and closed positions. In the illustrated example, the first jaw7410 comprises an anvil 7412. The illustrated anvil 7412 has an anvilbody 7414 that has a proximal end portion 7416 that is non-movablyattached to an end effector mounting assembly 7430. For example, theproximal end portion 7416 comprises two upstanding lateral walls 7418that each has a mounting hole 7419 therein. See FIG. 82. The endeffector mounting assembly 7430 is received between the upstandinglateral walls 7418 and is non-movably attached thereto by a spring pin7421 that extends therethrough into holes 7419. The end effectormounting assembly 7430 is adapted to be pivotally mounted to, forexample, a distal shaft frame that includes a pivot pin that isconfigured to be rotatably received within the mounting hole 7432 in theend effector mounting assembly 7430. The surgical end effector 7400 maybe articulated by an articulation lock and first and second articulationrod arrangements of the type described above or by any of the variousarticulation systems and articulation rod and/or rod/cable arrangementsdescribed herein without departing from the spirit and scope of thepresent invention. As can also be seen in FIGS. 80 and 82, the anvilbody 7414 also includes an elongate slot 7422 with two staple formingsurfaces 7424 formed on each side thereof.

The surgical end effector 7400 further includes a second jaw 7440 thatcomprises an elongate channel 7442 that is configured to support asurgical staple cartridge 7450 therein. As in certain surgical staplecartridges discussed above, the surgical staple cartridge 7450 isconfigured to operably support a plurality of staple drivers (not shown)therein that operably support surgical staples (not shown) thereon. Thestaple drivers are movably supported within corresponding driver pockets7452 formed in the surgical staple cartridge 7450. The staple driversare arranged in rows on each side of an elongate slot 7454 in thesurgical staple cartridge 7450 to accommodate the axial passage of afiring member 7460 therethrough. A cartridge pan 7451 is attached to thestaple cartridge 7450 to prevent the staple drivers from falling out oftheir respective driver pockets 7452 when the surgical end effector 7400is manipulated into various orientations. A wedge sled 7462 is movablysupported within the surgical staple cartridge 7450 and is configured tobe driving engaged by the firing member 7460 as the firing member 7460is driven from a starting position adjacent to the proximal end of thesurgical staple cartridge 7450 and an ending position within a distalportion of the surgical staple cartridge 7450. As was discussed above,as the wedge sled 7462 is driven in the distal direction through thesurgical staple cartridge 7450, the wedge sled 7462 drivingly contactsthe staple drivers to drive them toward the cartridge deck surface (notshown). The firing member 7460 includes a tissue cutting surface 7464that serves to cut the tissue clamped between the jaws 7410, 7440 as thefiring member 7460 is driven distally. A distal firing beam 280 or ofthe other various types described herein is operably attached to thefiring member 7460 as well as to an intermediate firing shaft portion2222 or other firing system arrangement. Operation of the intermediatefiring shaft portion 2222 to drive and retract the distal firing beam280 was discussed in detail above and will not be repeated for the sakeof brevity. Other firing beam and firing system arrangements(motor-powered as well as manually-powered) may also be employed topower the firing member without departing from the spirit and scope ofthe present invention. A first jaw cover 7415 is removably attached tothe anvil 7412 a second jaw cover 7441 is removably attached to thesecond jaw 7440 for assembly purposes as well as to prevent theinfiltration of tissue and/or body fluid into the first and second jawswhich may hamper or interfere with operation of the firing member 6340.

As can be seen in FIG. 82, the elongate channel 7442 includes a proximalend portion 7444 that has two lateral side portions 7445. Each lateralside portion 7445 has a corresponding U-shaped or open ended slot 7446therein that is adapted to receive a corresponding pivot pin 7426 thatlaterally protrudes from the proximal end portion 7416 of the anvil body7414. Such arrangement serves to movably or pivotally journal the secondjaw 7440 or elongate channel 7442 to the first jaw 7410 or anvil 7412.As can be most particularly seen in FIGS. 80, 82 and 84, closure rampsegments 7447 are formed on the proximal end 7444 of the elongatechannel 7442. In addition, each lateral side 7445 of the proximal endportion 7444 has a lateral recess area 7448 formed therein. Each lateralrecessed area 7448 is located proximal to a corresponding closure rampsegment 7447. An opening ramp or cam 7449 is formed adjacent theproximal end of each lateral recessed area 7448. Each opening ramp orcam 7449 terminates in a top surface 7580. See FIGS. 82 and 84.

The second jaw 7440 or elongate channel 7442 may be movably actuatedrelative to the first jaw 7410 or anvil 7412 by a closure system of thevarious types disclosed herein. For example, a closure drive system ofthe types described herein may be employed to actuate a closure tube ofthe types described herein as was discussed in detail above. The closuretube may also be attached to an end effector closure sleeve 7572 thatmay be pivotally attached to the closure tube by a double pivotarrangement in the manner described above. As was described above, forexample, axial movement of the closure tube may be controlled throughactuation of a closure trigger. In other arrangements, the closure tubemay be axially moved by means of a robotic control system, etc. As canbe seen in FIGS. 80, 81, 83 and 84, the end effector closure sleeve 7572extends over the end effector mounting assembly 7430 as well as theproximal end portion 7444 of the elongate channel 7442 of the second jaw7440. The end effector closure sleeve 7572 includes two diametricallyopposed opening members 7574 that are configured to operably engage theproximal end portion 7444 of the second jaw 7440 or elongate channel7442. In the illustrated embodiment, the opening members 7574 compriseinwardly extending opening tabs 7576 that are formed in portions of theend effector closure sleeve 7572.

The second jaw 7440 is moved to a closed position (FIGS. 81 and 83) byadvancing the end effector closure sleeve 7572 in the distal direction“DD”. As the end effector closure sleeve 7572 moves distally, the distalend 7575 thereof contacts the closure ramp segments 7447 that are formedon the proximal end 7444 of the elongate channel 7442 and serves to camthe elongate channel 7442 towards the anvil 7412. Once the end effectorclosure sleeve 7552 has been moved to its distal-most position, thedistal end 7575 contacts an abutment surface 7443 on the elongatechannel 7442 to maintain the closure load or closing force on theelongate channel 7442. See FIGS. 81 and 83. When the end effectorclosure sleeve 7572 is in the fully-closed position, the ends of theopening tabs 7576 are received in the corresponding lateral recess areas7448. To move the second jaw 7440 or elongate channel 7442 to an openposition, the closure system is actuated to move the closure sleeve 7572in the proximal direction “PD”. As the end effector closure sleeve 7572moves proximally, the opening tabs 7572 ride up the correspondingopening ramp or cam 7449 on the proximal end portion 7444 of theelongate channel 7442 to cam or pivot the elongate channel 7442 awayfrom the anvil 7412. Each tab rides up the cam 7449 onto the top surfacetop surface 7580 and serves to positively retain the elongate channel7442 in that fully open position. See FIG. 84.

FIGS. 85-87 illustrate another surgical end effector 8400 that comprisestwo jaws 8410, 8440 that are simultaneously movable between open andclosed positions relative to the shaft axis SA-SA. In the illustratedexample, the first jaw 8410 comprises an anvil 8412. The illustratedanvil 8412 has an anvil body 8414 that has a proximal end portion 8416that movably interfaces with an end effector adapter 8600. As can beseen in FIG. 85, the end effector adapter 8600 includes two distallyextending distal walls 8602 that each has a lateral pivot pin 8604protruding laterally therefrom. Each lateral pivot pin 8604 is receivedin a corresponding open ended U-shaped slot 8418 formed in the lateralside walls 8417 of the proximal end portion 8416 of the anvil 8412. SeeFIG. 85. Such arrangement permits the elongate channel 8412 to move orpivot relative to the end effector adapter 8600. As can be further seenin FIG. 85, the end effector adapter 8600 is non-movably attached to andend effector mounting assembly 8430. For example, the end effectoradapter 8600 further includes two upstanding lateral walls 8606 thateach has a mounting hole 8608 therein. The end effector mountingassembly 8430 is received between the upstanding lateral walls 8606 andis non-movably attached thereto by a spring pin 8421 that extendstherethrough into holes 8608. The effector mounting assembly 8430 isadapted to be pivotally mounted to, for example, a distal shaft framethat includes a pivot pin that is configured to be rotatably receivedwithin the mounting hole 8432 in the end effector mounting assembly8430. The surgical end effector 8400 may be articulated by anarticulation lock and first and second articulation rod arrangements ofthe type described above or by any of the various articulation systemsand articulation rod and/or rod/cable arrangements described hereinwithout departing from the spirit and scope of the present invention. Ascan also be seen in FIG. 85, the anvil body 8414 also includes anelongate slot 8422 with two staple forming surfaces 8424 formed on eachside thereof.

The surgical end effector 8400 further includes a second jaw 8440 thatcomprises an elongate channel 8442 that is configured to support asurgical staple cartridge 8450 therein. As in the various surgicalstaple cartridges discussed above, the surgical staple cartridge 8450 isconfigured to operably support a plurality of staple drivers (not shown)therein that operably support surgical staples (not shown) thereon. Thestaple drivers are movably supported within corresponding driver pockets8452 formed in the surgical staple cartridge 8450. The staple driversare arranged in rows on each side of an elongate slot 8454 in thesurgical staple cartridge 8450 to accommodate the axial passage of afiring member 8460 therethrough. A cartridge pan 8451 is attached to thestaple cartridge 8450 to prevent the staple drivers from falling out oftheir respective driver pockets 8452 when the surgical end effector 8400is manipulated into various orientations. A wedge sled 8462 is movablysupported within the surgical staple cartridge 8450 and is configured tobe drivingly engaged by the firing member 8460 as the firing member 8460is driven from a starting position adjacent to the proximal end of thesurgical staple cartridge 8450 and an ending position within a distalportion of the surgical staple cartridge 8450. As was discussed above,as the wedge sled 8462 is driven in the distal direction through thesurgical staple cartridge 8450, the wedge sled 8462 drivingly contactsthe staple drivers to drive them toward the cartridge deck surface (notshown). The firing member 8460 includes a tissue cutting surface 8464that serves to cut the tissue clamped between the jaws 8410, 8440 as thefiring member 8460 is driven distally. A distal firing beam 280 or ofthe other various types described herein is operably attached to thefiring member 8460 as well as to an intermediate firing shaft portion2222 or other firing system arrangement. Operation of the intermediatefiring shaft portion 2222 to drive and retract the distal firing beam280 was discussed in detail above and will not be repeated for the sakeof brevity. Other firing beam and firing system arrangements(motor-powered as well as manually-powered) may also be employed topower the firing member without departing from the spirit and scope ofthe present invention. A first jaw cover 8415 is removably attached tothe anvil 8412 and a second jaw cover 8441 is removably attached to thesecond jaw 8440 for assembly purposes as well as to prevent theinfiltration of tissue and/or body fluid into the first and second jawswhich may hamper or interfere with operation of the firing member 8460.

As can be seen in FIG. 85, the elongate channel 8442 includes a proximalend portion 8444 that has two lateral side portions 8445. Each lateralside portion 8445 has a corresponding U-shaped or open ended slot 8446therein that is adapted to receive a corresponding t lateral pivot pin8604 that protrudes laterally from the end effector adapter 8600. Sucharrangement serves to movably or pivotally journal the second jaw 8440or elongate channel 8442 to the first jaw 8410 or anvil 8412. As canalso be seen in FIG. 85, closure ramp segments 8447 are formed on theproximal end 8444 of the elongate channel 8442. In addition, eachlateral side 8445 of the proximal end portion 8444 has a second lateralrecessed area 8448 formed therein. Each second lateral recessed area8448 is located proximal to a corresponding second closure ramp segment8447. A second opening ramp or cam 8449 is formed adjacent the proximalend of each second lateral recessed area 8448. Each second opening rampor cam 8449 terminates in a second top surface 8450. Similarly, a firstrecessed area 8420 is formed on the bottom of each of the side walls8417 of the proximal end portion 8416 of the anvil 8412. A first openingramp or cam 8426 is formed adjacent the proximal end of each firstlateral recessed area 8420. Each first opening ramp or cam 8426terminates in a first top surface 8428.

The second jaw 8440 or elongate channel 8442 and the first jaw 8410 oranvil 8412 may be simultaneously moved between open and closed positionsby a closure system of the various types disclosed herein. For example,a closure drive system 30 may be employed to actuate a closure tube 260in the manner described herein. The closure tube 260 may also beattached to an end effector closure sleeve 8572 that may be pivotallyattached to the closure tube 260 by a double pivot arrangement in themanner described above. As was described above, for example, axialmovement of the closure tube 260 may be controlled through actuation ofa closure trigger 32. In other arrangements, the closure tube may beaxially moved by means of a robotic control system, etc. As can be seenin FIGS. 86 and 87, the end effector closure sleeve 8572 extends overthe end effector mounting assembly 8430, the end effector adapter 8600as well as the proximal end portion 8444 of the elongate channel 8442 ofthe second jaw 8440 and the proximal end portion 8416 of the first jaw8410 or anvil 8412. The end effector closure sleeve 8572 includes twodiametrically opposed, first opening members 8574 that are configured tooperably engage the proximal end portion 8416 of the first jaw 8410. Inthe illustrated embodiment, the first opening members 8574 compriseinwardly extending first opening tabs 8576 that are formed in portionsof the end effector closure sleeve 8572. Likewise, the end effectorclosure sleeve 8572 further includes two diametrically opposed, secondopening members 8580 that are configured to operably engage the proximalend portion 8444 of the second jaw 8440. In the illustrated embodiment,the second opening members 8580 comprise inwardly extending secondopening tabs 8582 that are formed in portions of the end effectorclosure sleeve 8572.

The first and second jaws, 8410, 8440 are simultaneously moved to aclosed position (FIG. 86) by advancing the end effector closure sleeve8572 in the distal direction “DD”. As the end effector closure sleeve8572 moves distally, the distal end 8575 thereof contacts the bottom ofthe proximal end portion 8416 of the first jaw 8410 or anvil 8412 aswell as the closure ramp segments 8447 that are formed on the proximalend 8444 of the elongate channel 8442 and serves to cam the first andsecond jaws 8410, 8440 towards each other. Once the end effector closuresleeve 8572 has been moved to its distal-most position, the distal end8575 of the end effector closure sleeve 8572 contacts first abutmentsurfaces 8419 on the first jaw 8410 or anvil 8412 as well as a secondabutment surface 8443 on the second jaw 8440 or elongate channel 8442 tomaintain the closure load or closing force on both of the jaws 8410,8440. See FIG. 86. When the end effector closure sleeve 8572 is in thefully-closed position, the ends of the first opening tabs 8576 arereceived in the corresponding first lateral recesses areas 8420 and theends of the second opening tabs 8582 are received in the correspondingsecond lateral recess areas 8448. To move the first and second jaws8410, 8440 away from each other to open positions, the closure system isactuated to move the closure sleeve 8572 in the proximal direction “PD”.As the end effector closure sleeve 8572 moves proximally, the firstopening tabs 8576 ride up the corresponding first opening ramp or cam8426 on the bottom of the proximal end portion 8416 of the first jaw8410 to cam or pivot the first jaw 8410 or anvil 8412 in a directionaway from the second jaw 8440 or elongate channel 8442 and the secondopening tabs 8582 ride up the corresponding second ramps 8449 on theproximal end portion 8444 of the elongate channel 8442 to cam or pivotthe elongate channel 8442 in a direction away from the first jaw oranvil 8412. Each of the first tabs 8576 rides up the corresponding camor ramp 8426 onto the corresponding first locking surface 8428 and eachof the second tabs 8582 rides up the corresponding second cam or ramp8449 onto the corresponding second locking surface 8450 to therebyretain the first and second jaws 8410, 8400 in the open position. Thereader will appreciate that the axial position of the first tabs 8576relative to the second tabs 8582 may be positioned so as tosimultaneously move the first and second jaws away from each other orthey may be axially offset so that one of the jaws moves before theother jaw moves.

FIGS. 88-93 illustrate portions of another surgical instrument 9010 thatincludes a surgical end effector 9300 that operably interfaces with anelongate shaft assembly 9200. The surgical end effector 9300 is similarto surgical end effector 300 that was discussed in detail above andincludes a first jaw in the form of an elongate channel 9302 that isconfigured to operably support a surgical staple cartridge 304 therein.The illustrated surgical end effector 9300 further includes a second jawin the form of an anvil 310 that is supported on the elongate channel9302 for movement relative thereto. The anvil 310 may be movablyactuated by the closure system described above and shown in FIGS. 88 and91. For example, a first closure drive system may be employed to actuatea closure tube 260 in the manner described herein. The closure tube 260is attached to an end effector closure sleeve 272 that is pivotallyattached to the closure tube 260 by a double pivot closure sleeveassembly 271 in the manner described above. As was described above, forexample, axial movement of the closure tube 260 may be controlledthrough actuation of a closure trigger. As was also described above, theclosure sleeve 272 incudes opening cams that serve to movably actuatethe anvil 310 to an open position. In use, the closure tube 260 istranslated distally (direction “DD”) to close the anvil 310, forexample, in response to the actuation of the closure trigger. The anvil310 is closed by distally translating the closure tube 260 in the distaldirection “DD” and as well as the end effector closure sleeve 272 thatis pivotally coupled thereto. As the end effector closure sleeve 272 isdriven distally, the cam tabs 358 of the opening cams 354 move distallywithin the cam slots 318 in the anvil 310 to operably interface or rideon the cam surfaces 319 to cam the body portion 312 of the anvil 310away from the surgical staple cartridge 304 into an open position. Theanvil 310 is closed by distally translating the closure tube 260 in thedistal direction “DD” until the distal end 275 of the end effectorclosure sleeve 272 rides up the anvil attachment arms 316 to contact thewhich causes the cam tabs 358 to move in the proximal direction “PD”within the cam slots 318 on the cam surfaces 319 to pivot the anvil 310into the open position.

As can be seen in FIG. 91 for example, the elongate shaft assembly 9200includes a two piece shaft frame or spine assembly 9812 upon which theclosure tube assembly 260 is received. The spine assembly 9812 includesa proximal spine portion 9814 and a distal spine portion 9816. Theproximal spine portion 9816 may be rotatably journaled in the handle orhousing (not shown) in the various manners described herein tofacilitate rotation of the surgical end effector 9300 about the shaftaxis SA. Although not shown, the surgical instrument 9010 may alsoinclude a firing beam arrangement and any of the various firing drivesystem arrangements disclosed herein for driving a firing member throughthe surgical staple cartridge in the various manners discussed above. Ascan be seen in FIG. 91, the distal spine portion 9816 includes a distalend portion 9818 that has an upwardly protruding pivot pin 9819 thereonthat is adapted to be pivotally received within a pivot hole 9328 formedin the proximal end portion 9320 of the elongate channel 9302. Sucharrangement facilitates pivotal travel of the elongate channel 9302 ofthe surgical end effector 9300 relative to the spine assembly 9812 aboutan articulation axis B-B that is defined by the pivot hole 9328. Asindicated above, the articulation axis B-B is transverse to the shaftaxis SA-SA that is defined by elongate shaft assembly 9200.

Still referring to FIG. 91, the elongate shaft assembly 9200 furtherincludes an articulation system, generally designated as 9900 thatincludes a first articulation bar 9910 and a second articulation bar9920. The first articulation bar 9910 operably interfaces with a firstarticulation motor 9912 that is operably supported in the surgicalinstrument handle or housing or portion of a robotically controlledsystem. As can be seen in FIGS. 92 and 93, the first articulation bar9910 is attached to a first articulation nut 9914 that is threadablyreceived on a first threaded drive shaft 9916 of the first articulationmotor 9912. Rotation of the first threaded drive shaft 9916 in a firstrotary direction will result in the distal advancement of the firstarticulation bar 9910 in the distal direction “DD” and rotation of thefirst threaded drive shaft 9916 in a second or opposite rotary directionwill result in the proximal advancement of the first articulation drivebar 9910 in the proximal direction “PD”.

The illustrated articulation system 9900 further includes a secondarticulation bar 9920 that operably interfaces with a secondarticulation motor 9922 that is operably supported in the surgicalinstrument handle or housing or portion of a robotically controlledsystem. As can be seen in FIGS. 92 and 93, the second articulation bar9920 is attached to a second articulation nut 9924 that is threadablyreceived on a second threaded drive shaft 9926 of the secondarticulation motor 9922. Rotation of the second threaded drive shaft9926 in a first rotary direction will result in the proximal advancementof the second articulation bar 9920 in the proximal direction “PD” androtation of the second threaded drive shaft 9926 in a second or oppositerotary direction will result in the distal advancement of the secondarticulation drive bar 9920 in the distal direction “DD”.

The articulation system 9900 further includes a cross-linkage assembly9940 that is operably attached to the first and second articulation bars9910, 9920. As can be seen in FIG. 91, the cross-linkage assembly 9940includes a middle support member 9950 that is pivotally pinned to theproximal end 9320 of the elongate channel 9302 with a first pin 9952.The middle support member 9950 further includes a proximal connector tab9954 that includes a slot 9956 for receiving a second pin 9958 thereinfor pivotally attaching the proximal connector tab 9954 to the distalend portion 9818 of the distal spine portion 9816. The pin and slotarrangement facilitate pivotal and axial travel of the middle supportmember 9950 relative to the spine assembly 9812. The middle supportmember 9950 further includes a slot 9960 for receiving a firing beamtherethrough. The middle support member 9950 serves to provide lateralsupport to the firing beam as it flexes to accommodate articulation ofthe surgical end effector 9300.

As can be most particularly seen in FIGS. 92 and 93, the middle supportmember 9950 has a proximal linkage tab portion 9970 that facilitatesattachment of the first and second articulation bars 9910, 9920 thereto.In particular, a distal end 9911 of the first articulation bar 9910 ispivotally attached to a first articulation link 9972 that is pivotallypinned to the proximal linkage tab portion 9970. Likewise, a distal end9921 of the second articulation bar 9920 is pivotally pinned to a secondarticulation link 9974 that is pivotally pinned to the proximal linkagetab portion 9970 of the middle support member 9950. FIG. 92 illustratesarticulation of the surgical end effector 9300 in the directionrepresented by arrow 9980. As can be seen in that Figure, the firstthreaded drive shaft 9916 of the first articulation motor is rotated ina first rotary direction to drive the first articulation bar 9910 in thedistal direction. In addition, the second threaded drive shaft 9926 ofthe second articulation motor 9922 is rotated in a second rotarydirection to draw the second articulation bar 9920 in the proximaldirection. The first and second articulation motors 9912, 9922 areoperated by a computer controlled system and, as can be seen in FIG. 92,the distance that first articulation bar 9910 moves in the distaldirection is not equal to the distance in which the second articulationbar 9920 moves in the proximal direction.

FIG. 93 illustrates articulation of the surgical end effector 9300 inthe direction represented by arrow 9982. As can be seen in that Figure,the second threaded drive shaft 9926 of the second articulation motor9922 is rotated in a first rotary direction to drive the secondarticulation bar 9920 in the distal direction. In addition, the firstthreaded drive shaft 9916 of the first articulation motor 9912 isrotated in a second rotary direction to draw the first articulation bar9910 in the proximal direction. The first and second articulation motors9912, 9922 are operated by a computer controlled system and, as can beseen in FIG. 92, the distance that second articulation bar 9920 moves inthe distal direction is not equal to the distance in which the firstarticulation bar 9910 moves in the proximal direction. In alternativearrangements, only one articulation motor may be employed to articulatethe end effector. In such arrangements, for example, the second link maybe proximally coupled to the first link by means of a rack and pinionarrangement similar to those rack and pinion arrangements disclosed indetail herein.

FIGS. 94 and 95 illustrate surgical staple cartridges 9304 and 9304′that each include a light member 9305 for illuminating the distal end ofthe surgical end effector in which it is supported. Each of the staplecartridges 9304, 9304′ may have conductors (not shown) that are arrangedon the bottom of the cartridge or on the cartridge sides that areconfigured to electrically contact corresponding conductors in theelongate channel that communicate with a source of electrical energylocated in the instrument handle or housing. Thus, when the cartridge9304, 9304′ are properly seated in the elongate channel of the surgicalend effector, the light 9305 therein may receive power from the sourceof electrical power in the handle or housing through the correspondingconductors.

The surgical instrument systems described herein are motivated by anelectric motor;

-   -   however, the surgical instrument systems described herein can be        motivated in any suitable manner. In various instances, the        surgical instrument systems described herein can be motivated by        a manually-operated trigger, for example. The motor or motor(s)        may comprise a portion or portions of a robotically controlled        system.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The surgical instrument systems described herein are motivated by one ormore electric motors; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example.

EXAMPLES Example 1

A surgical instrument, comprising a surgical end effector. The surgicalend effector comprises a first jaw and a second jaw that is movablysupported relative to the first jaw between an open position and closedpositions. The surgical instrument further comprises a closure memberthat is axially movable in response to applications of closing andopening motions. The closure member comprises at least one opening camthat protrudes therefrom to movably engage a corresponding slotted camsurface on the second jaw such that, upon application of the openingmotion to the closure member, the at least one opening cam movablyengages the corresponding slotted cam surface to move the second jaw tothe open position and upon application of the closure motion to theclosure member, the closure member engages the second jaw to move thesecond jaw to one of the closed positions.

Example 2

The surgical instrument of Example 1, wherein the at least one openingcam comprises a first opening cam that extends laterally inwardly fromthe closure member and engages a first one of the corresponding slottedcam surfaces. A second opening cam extends laterally inwardly from theclosure member and engages a second one of the corresponding slotted camsurfaces.

Example 3

The surgical instrument of Example 2, wherein the second opening cam isdiametrically opposite from the first opening cam on the closure member.

Example 4

The surgical instrument of Examples 1, 2 or 3, wherein the at least oneopening cam is removably attached to the closure member.

Example 5

The surgical instrument of Examples 1, 2, 3 or 4, wherein the at leastone opening cam is configured for snap engagement with the closuremember.

Example 6

The surgical instrument of Examples 1, 2 or 3, wherein the at least oneopening cam is integrally formed in the closure member.

Example 7

The surgical instrument of Examples 1, 2, 3 or 6, wherein the at leastone opening cam is crimped into a wall of the closure member such that acrimped portion of the wall movably extends through a correspondingportion of the first jaw to movably engage the corresponding slotted camsurface on the second jaw.

Example 8

The surgical instrument of Examples 1, 2, 3, 4, 5, 6 or 7, wherein theat least one opening cam extends inwardly through a portion of the firstjaw to engage the corresponding slotted cam surface.

Example 9

The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7 or 8, whereinthe second jaw comprises a pair of laterally extending trunnionsconfigured to be pivotally received in corresponding trunnion holes inthe first jaw to facilitate pivotal travel of the second jaw relative tothe first jaw.

Example 10

The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8 or 9, whereinthe first jaw is configured to operably support a surgical staplecartridge and wherein the second jaw comprises an anvil.

Example 11

A surgical instrument, comprising a surgical end effector. The surgicalend effector comprises a first jaw and a second jaw that is pivotallysupported on the first jaw for selective movement relative theretobetween an open position and closed positions. The second jaw comprisesfirst and second cam surfaces. The surgical instrument further comprisesan end effector closure sleeve that comprises a first opening cam thatextends laterally inwardly from the end effector closure sleeve througha portion of the first jaw to operably engage the first cam surface. Asecond opening cam extends laterally inwardly from the end effectorclosure sleeve through another portion of the first jaw to operablyengage the second cam surface such that upon application of an openingmotion to the end effector closure sleeve, the first opening cam movablyengages the first cam surface and the second opening cam movably engagesthe second cam surface to move the second jaw to the open position andupon application of a closing motion to the end effector closure sleeve,the end effector closure sleeve movably engages the second jaw to movethe second jaw to one of the closed positions.

Example 12

The surgical instrument of Example 11, wherein the first and secondopening cams are removably attached to the end effector closure sleeve.

Example 13

The surgical instrument of Example 11, wherein the first and secondopening cams comprise permanent deformations in the end effector closuresleeve.

Example 14

The surgical instrument of Examples 11 or 13, wherein the first andsecond opening cams are formed by crimping the end effector closuresleeve.

Example 15

The surgical instrument of Example 14, wherein the first and secondopening cams are crimped at 90 degree angles relative to adjacentportions of an outer surface of the end effector closure sleeve.

Example 16

The surgical instrument of Examples 11, 12, 13, 14 or 15, wherein thefirst opening cam movably protrudes through a first slot in the firstjaw to operably interface with the first cam surface in the second jawand wherein the second opening cam movably protrudes through a secondslot in the first jaw to operably interface with the second cam surfacein the second jaw.

Example 17

The surgical instrument of Examples 11, 12, 13, 14, 15 or 16, whereinthe second jaw comprises a pair of laterally extending trunnionsconfigured to be pivotally received in corresponding trunnion holes inthe first jaw to facilitate pivotal travel of the second jaw relative tothe first jaw.

Example 18

The surgical instrument of Examples 11, 12, 13, 14, 15, 16 or 17,wherein the first jaw is configured to operably support a surgicalstaple cartridge and wherein the second jaw comprises an anvil.

Example 19

A surgical instrument, comprising a housing and a closure system that isoperably supported by the housing and is configured to generate closingand opening motions. An elongate shaft assembly operably interfaces withthe housing. The elongate shaft assembly comprises an end effectorclosure sleeve that is axially movable in response to applications ofthe closing and opening motions thereto. The surgical instrument furthercomprises a surgical end effector that comprises an elongate channelthat operably interfaces with the elongate shaft assembly and isconfigured to operably support a surgical staple cartridge therein. Ananvil is movably supported on the elongate channel for selectivemovement relative thereto between an open position and closed positions.The surgical instrument also comprises at least two opening cams thatprotrude from the end effector closure sleeve such that upon applicationof the opening motion to the end effector closure sleeve, the at leasttwo opening cams operably interface with corresponding cam surfaces onthe anvil in a first direction to move the anvil to the open positionand upon application of the closing motion to the end effector closuresleeve, the end effector closure sleeve operably interfaces with theanvil in a second direction to cause the anvil to move to one of theclosed positions.

Example 20

The surgical instrument of Example 19, wherein at least one opening camis formed in the end effector closure sleeve.

Example 21

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. An end effector mounting assembly is movablycoupled to the elongate shaft assembly for selective articulation aboutan articulation axis that is transverse to the shaft axis. First andsecond jaws are movably coupled to the end effector mounting assemblysuch that the first and second jaws are each movable relative to eachother and the shaft axis about a common pivot axis between an openposition and closed positions. The first jaw comprises a first point andthe second jaw comprises a second point wherein the first and secondpoints lie along a common axis that is perpendicular to the shaft axis.The first point is a first distance from the shaft axis when the firstjaw is in the open position and wherein the second point is a seconddistance from the shaft axis when the second jaw is in the open positionand wherein the second distance is different from the first distance.The surgical instrument further comprises means for biasing the firstand second jaws away from each other to the open position and means forapplying closure motions to the first and second jaws to move the firstand second jaws toward each other to the closed positions.

Example 22

The surgical instrument of Example 21, wherein the one of the first andsecond jaws comprises an elongate channel that is configured to operablysupport a surgical staple cartridge therein and wherein the other one ofthe first and second jaws comprises an anvil.

Example 23

The surgical instrument of Example 21, wherein the first jaw comprises asurgical staple cartridge and wherein the second jaw comprises an anviland wherein the second distance is greater than the first distance.

Example 24

The surgical instrument of Examples 21, 22 or 23, further comprising afiring member that is supported for axial travel between the first andsecond jaws when the first and second jaws are in one of the closedpositions.

Example 25

The surgical instrument of Examples 21, 22, 23 or 24, wherein the endeffector mounting assembly comprises a pair of lateral sides. Eachlateral side comprises a laterally protruding trunnion pin that definesthe pivot axis. Each of the first and second jaws are pivotallysupported on each of the laterally protruding trunnion pins.

Example 26

The surgical instrument of Examples 21, 22, 23, 24 or 25, wherein themeans for biasing comprises a spring located between the first andsecond jaws.

Example 27

The surgical instrument of Examples 21, 22, 23, 24, 25 or 26, whereinthe means for applying closure motions comprises an axially movable endeffector closure sleeve that is configured to simultaneously engageportions of the first and second jaws when the end effector closuresleeve is axially moved in a first direction.

Example 28

The surgical instrument of Examples 21, 22, 23, 24, 25, 26 or 27,further comprising an axially movable firing member that is supportedfor axial travel between the first and second jaws when the first andsecond jaws are in one of the closed positions.

Example 29

The surgical instrument of Example 28, wherein the firing membercomprises a tissue cutting surface.

Example 30

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. An end effector mounting assembly is movablycoupled to the elongate shaft assembly for selective articulation aboutan articulation axis that is transverse to the shaft axis. First andsecond jaws are movably coupled to the end effector mounting assemblysuch that the first and second jaws are each movable relative to eachother and the shaft axis between an open position and closed positionssuch that upon application of a closing motion to the first and secondjaws causes one of the first and second jaws to move to one of theclosed positions at a closure rate that differs from another closurerate at which the other of the first and second jaws moves to the closedposition. The surgical instrument further comprises means forselectively applying the closing motion to the first and second jaws andan opening motion to the first and second jaws to selectively move thefirst and second jaws from the closed positions to the open position.

Example 31

The surgical instrument of Example 30, further comprising an axiallymovable firing member that is supported for axial travel between thefirst and second jaws when the first and second jaws are in one of theclosed positions.

Example 32

The surgical instrument of Examples 30 or 31, further comprising a firstcam slot on the end effector mounting assembly. The first cam slotdefines a first closure wedge portion and a first opening wedge portion.A second cam slot is also provided on the end effector mountingassembly. The second cam slot defines a second closure wedge portion anda second opening wedge portion. The first jaw comprises a pair of firstopening members and a pair of first closing members wherein one of thefirst opening members and one of the first closing members are movablyreceived within the first cam slot. Another one of the first openingmembers and another one of the first closing members are received withinthe second cam slot. The second jaw comprises a pair of second openingmembers and a pair of second closing members wherein one of the secondopening members and one of the second closing members are movablyreceived in the first cam slot. Another one of the second openingmembers and another one of the second closing members are movablyreceived within the second cam slot. The means for selectively applyingis configured to move the first and second jaws in a first direction soas to cause the one of the first closing members and the one of thesecond closing members to movably enter the first closure wedge portionand the another one of the first closing members and the another one ofthe second closing members to movably enter the second closure wedgeportion to thereby cause the first and second jaws to move toward eachother to one of the closed positions. The means for selectively applyingis further configured to move the first and second jaws in a seconddirection so as to cause the one of the first opening members and theone of the second opening members to move into the first opening wedgeportion and the another one of the first opening members and the anotherone of the second opening members to move into the second opening wedgeportion to thereby cause the first and second jaws to move away fromeach other to the open position.

Example 33

The surgical instrument of Example 32, wherein the first cam slot isformed in a first cam plate that is coupled to the end effector mountingassembly. The second cam slot is formed in a second cam plate that iscoupled to the end effector mounting assembly.

Example 34

The surgical instrument of Examples 32 or 33, wherein the means forselectively applying comprises an end effector closure sleeve that isaxially movable in response to applications of the closing and openingmotions thereto. The end effector closure sleeve comprises a firstopening tab that corresponds to the one of the first opening members andthe one of the second opening members for operable contact therewithwhen the end effector closure sleeve is moved in the second direction. Asecond opening tab corresponds to the another one of the first openingmembers and the another one of the second opening members for operablecontact therewith when the end effector closure sleeve is moved in thesecond direction.

Example 35

The surgical instrument of Examples 30, 31, 32, 33 or 34, wherein one ofthe first and second jaws comprises an elongate channel that isconfigured to operably support a surgical staple cartridge therein andwherein the other one of the first and second jaws comprises an anvil.

Example 36

The surgical instrument of Examples 31, 32, 33, 34 or 35, furthercomprising a firing member that is supported for axial travel betweenthe first and second jaws when the first and second jaws are in one ofthe closed positions.

Example 37

A surgical instrument, comprising a first jaw and a second jaw that arepivotally supported relative to each other for selective pivotal travelbetween an open position and closed positions. A closure member isaxially movable in response to applications of closing and openingmotions thereto. The closure member comprises at least two inwardlyextending opening tabs that are configured to operably engagecorresponding portions of at least one of the first and second jaws uponapplication of the opening motions to the closure member to move atleast one of the first and second jaws to the open position.

Example 38

The surgical instrument of Example 37, wherein the at least one of theat least two inwardly extending opening tabs is integrally formed in theclosure member.

Example 39

The surgical instrument of Example 37, wherein each of the at least twoinwardly extending opening tabs are removably affixed to the closuremember.

Example 40

The surgical instrument of Examples 37, 38 or 39, wherein one of thefirst and second jaws comprises an elongate channel that is configuredto operably support a surgical staple cartridge therein and wherein theother one of the first and second jaws comprises an anvil.

Example 41

A surgical stapling instrument, comprising an elongate shaft assemblythat defines a shaft axis. A surgical end effector is operably coupledto the elongate shaft assembly by an articulation joint such that thesurgical end effector is selectively articulatable relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical end effector comprises a cartridge supportmember that is configured to operably support a surgical staplecartridge therein. A longitudinally movable firing beam extends throughthe articulation joint and is selectively axially movable from astarting position to an ending position within the surgical endeffector. The surgical instrument further comprises a firing beamlocking assembly that comprises a biasing member that is operablysupported on the articulation joint and is configured to apply a biasingmotion to the longitudinally movable firing beam to bias thelongitudinally movable firing beam into a locked position wherein thelongitudinally movable firing beam is prevented from moving from thestarting to the ending position unless an unfired surgical staplecartridge is operably supported in the cartridge support member.

Example 42

The surgical stapling instrument of Example 41, wherein the biasingmember is supported on a middle support member that interfaces with thecartridge support member and the elongate shaft assembly. The middlesupport member is configured to laterally support the longitudinallymovable firing beam during articulation of the surgical end effectorabout the articulation axis.

Example 43

The surgical stapling instrument of Examples 41 or 42, wherein thebiasing member is configured to avoid applying the biasing motion to thelongitudinally movable firing beam when the surgical end effector isbeing articulated.

Example 44

The surgical stapling instrument of Examples 41, 42, or 43, wherein thelongitudinally movable firing beam comprises a locking cam formed on aportion thereof for engagement with the biasing member.

Example 45

The surgical stapling instrument of Example 44, wherein the biasingmember comprises a planar body comprising a window that located thereinsuch that the locking cam protrudes into the window during articulationof the surgical end effector.

Example 46

The surgical stapling instrument of Examples 41, 42, 43, 44, or 45,wherein the biasing member biases the longitudinally movable firing beaminto a locked position upon initial application of a firing motion tothe longitudinally movable firing beam unless the unfired surgicalstaple cartridge is operably supported within the cartridge supportmember.

Example 47

The surgical stapling instrument of Examples 41, 42, 43, 44, 45, or 46,wherein the unfired surgical staple cartridge comprises a plurality ofsurgical staples operably supported within a cartridge body and a wedgesled that is axially movable through the cartridge body to eject thesurgical staples therefrom when the wedge sled is moved from an unfiredposition to a fired position therein. The wedge sled is configured foroperable engagement with the longitudinally movable firing beam when thelongitudinally movable firing beam is in the starting position and thewedge sled is in the unfired position.

Example 48

The surgical stapling instrument of Examples 41, 42, 43, 44, 45, or 46,wherein the biasing member biases the firing beam into a locked positionupon initial application of a firing motion to the firing beam unless awedge sled in a surgical staple cartridge that is supported within thecartridge support member is in an unfired position within the surgicalstaple cartridge and in operable engagement with the longitudinallymovable firing beam.

Example 49

The surgical stapling instrument of Example 48, wherein the wedge sledis configured to prevent the firing beam from entering a locked positionwhen the wedge sled is in the unfired position and upon application ofan initial firing motion to the longitudinally movable firing beam.

Example 50

A surgical stapling instrument, comprising a surgical end effector thatcomprises an elongate channel that is configured to operably support asurgical staple cartridge therein. An anvil is supported relative to theelongate channel such that one of the anvil and the elongate channel isselectively movable relative to the other one of the anvil and theelongate channel between open and closed positions. The surgicalinstrument further comprises an elongate shaft assembly that defines ashaft axis and comprises an articulation joint that is operably coupledto the surgical end effector to facilitate selective articulation of thesurgical end effector relative to the elongate shaft assembly about anarticulation axis that is transverse to the shaft axis. The elongateshaft assembly further comprises a closure assembly that is axiallymovable in response to closure motions that are applied thereto. Theclosure assembly comprises a distal closure member segment and aproximal closure member segment that movably interfaces with the distalclosure member segment to accommodate articulation of the surgical endeffector about the articulation axis. The proximal closure membersegment is configured to move one of the anvil and the elongate channelbetween the open and closed positions upon application of the closuremotions to the closure assembly. The surgical stapling instrumentfurther comprises a longitudinally movable firing beam that extendsthrough the articulation joint and is selectively axially movable from astarting position to an ending position within the surgical endeffector. The longitudinally movable firing beam is configured tooperably engage a corresponding portion of an unfired surgical staplecartridge that is operably supported in the elongate channel when thelongitudinally movable firing beam is in the starting position. Thesurgical stapling instrument further comprises a firing beam lockingassembly that comprises a biasing member that is operably supported onthe distal closure member segment for biasing the longitudinally movablefiring beam into a locked position wherein the longitudinally movablefiring beam is prevented from moving from the starting position to theending position unless an unfired surgical staple cartridge is operablysupported in the elongate channel.

Example 51

The surgical stapling instrument of Example 50, wherein thelongitudinally movable firing beam has a sloped portion that isconfigured for engagement with the biasing member when thelongitudinally movable firing beam is in the starting position.

Example 52

The surgical stapling instrument of Examples 50 or 51, wherein theunfired surgical staple cartridge comprises a plurality of surgicalstaples operably supported within a cartridge body and a wedge sled thatis axially movable through the cartridge body to eject the surgicalstaples therefrom when the wedge sled is moved from an unfired positionto a fired position therein. The wedge sled is configured for operableengagement with the longitudinally movable firing beam when thelongitudinally movable firing beam is in the starting position and thewedge sled is in the unfired position.

Example 53

The surgical stapling instrument of Examples 52 wherein the wedge sledis configured to prevent the firing beam from entering a locked positionwhen the wedge sled is in the unfired position and upon application ofan initial firing motion to the longitudinally movable firing beam.

Example 54

A surgical stapling instrument, comprising an elongate shaft assemblythat defines a shaft axis. A surgical end effector is operably coupledto the elongate shaft assembly by an articulation joint such that thesurgical end effector is selectively articulatable relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical end effector comprises a cartridge supportmember that is configured to operably support a surgical staplecartridge therein. The surgical stapling instrument further comprises alongitudinally movable firing beam that includes a portion that extendsthrough the articulation joint and is selectively axially movable from astarting position to an ending position within the surgical endeffector. The longitudinally movable firing beam is configured tooperably engage a corresponding portion of an unfired surgical staplecartridge that is operably supported in the cartridge support memberwhen the longitudinally movable firing beam is in the starting position.The surgical stapling instrument further includes means for providinglateral support to the portion of the longitudinally movable firing beamthat extends through the articulation joint as the surgical end effectoris articulated about the articulation axis. The means for providingfurther comprises means for preventing the longitudinally movable firingbeam from moving from the starting position to the ending positionunless an unfired surgical staple cartridge is operably supported in thecartridge support member.

Example 55

The surgical stapling instrument of Example 54, wherein the means forproviding lateral support further comprises a middle support member thatis movably attached to the cartridge support member and the elongateshaft assembly. The middle support member comprises a slot for movablyreceiving the portion of the longitudinally movable firing beamtherethrough. The means for preventing comprises a biasing member thatis supported on the middle support member and is configured to apply abiasing motion to the longitudinally movable firing beam to move thelongitudinally movable firing beam into a locked position wherein thelongitudinally movable firing beam is prevented from moving from thestarting position to the ending position unless the unfired surgicalstaple cartridge is operably supported in the cartridge support member.

Example 56

The surgical stapling instrument of Example 55, wherein thelongitudinally movable firing beam comprises a locking cam formed on theportion of the longitudinally movable firing beam for engagement withthe biasing member.

Example 57

The surgical stapling instrument of Example 56, wherein the biasingmember comprises a planar body that comprises a window located thereinsuch that the locking cam protrudes therein during the articulation ofthe surgical end effector.

Example 58

The surgical stapling instrument of Examples 54, 55, 55 or 57, whereinthe unfired surgical staple cartridge comprises a plurality of surgicalstaples that are operably supported within a cartridge body and a wedgesled that is axially movable through the cartridge body to eject thesurgical staples therefrom when the wedge sled is moved from an unfiredposition to a fired position therein. The wedge sled is configured foroperable engagement with the longitudinally movable firing beam when thelongitudinally movable firing beam is in the starting position and thewedge sled is in the unfired position.

Example 59

The surgical stapling instrument of Example 58, wherein the wedge sledis configured to prevent the firing beam from entering a locked positionwhen the wedge sled is in the unfired position and upon application ofan initial firing motion to the longitudinally movable firing beam.

Example 60

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is operably coupled to theelongate shaft assembly by an articulation joint such that the surgicalend effector is selectively articulatable relative to the elongate shaftassembly about an articulation axis that is transverse to the shaftaxis. A longitudinally movable flexible firing beam is configured toflexibly traverse the articulation joint and is selectively axiallymovable from a starting position to an ending position within thesurgical end effector. A middle support member is movably coupled to theelongate shaft assembly and a portion of the surgical end effector. Themiddle support member comprises a middle body portion that includes aproximal end and a distal end. A firing beam slot extends between thatproximal end and the distal end and is configured to movably supporteach lateral side of a portion of the flexible firing beam traversingthe articulation joint. The surgical instrument further comprises aproximal support link that comprises an elongate proximal body that islocated proximal to the middle support member and is configured tolaterally support proximal lateral side portions of the flexible firingbeam traversing the articulation joint. The proximal support linkmovably interfaces with the proximal end of the middle support member.The surgical instrument further comprises a distal support link thatcomprises an elongate distal body that is located distal to the middlesupport member and is configured to laterally support correspondingdistal lateral side portions of the flexible firing beam traversing thearticulation joint. The distal support link movably interfaces with thedistal end of the middle support member.

Example 61

The surgical instrument of Example 60, wherein the elongate proximalbody of the proximal support link comprises a proximal top member andtwo downwardly extending opposed proximal support walls. One of theproximal support walls is located adjacent one of the proximal lateralside portions of the flexible firing beam traversing the articulationjoint. Another one of the opposed proximal support walls is adjacentanother one of the proximal lateral side portions of the flexible firingbeam traversing the articulation joint. The elongate distal body of thedistal support link comprises a distal top member and two downwardlyextending opposed distal support walls. One of the distal support wallsis located adjacent one of the distal lateral side portions of theflexible firing beam traversing the articulation joint. Another one ofthe opposed distal support walls is adjacent another one of the distallateral side portions of the flexible firing beam traversing thearticulation joint.

Example 62

The surgical instrument of Example 61, wherein the one of the proximalsupport walls includes a proximal arcuate surface that faces one of theproximal lateral side portions of the flexible firing beam traversingthe articulation joint and wherein the another one of the proximalsupport walls includes another proximal arcuate surface that facesanother one of the proximal lateral side portions of the flexible firingbeam traversing the articulation joint. One of the distal support wallsincludes a distal arcuate surface that faces one of the distal lateralside portions of the flexible firing beam traversing the articulationjoint. Another one of the distal support walls includes another distalarcuate surface that faces another one of the distal lateral sideportions of the flexible firing beam traversing the articulation joint.

Example 63

The surgical instrument of Examples 61 or 62, wherein the proximal endof the middle support member comprises an arcuate proximal pocket thatis configured to movably receive a distal nose portion of the proximaltop member of the proximal support link therein. The distal end of themiddle support member comprises a distal arcuate pocket that isconfigured to movably receive a proximal nose portion of the distal topmember of the distal support link therein.

Example 64

The surgical instrument of Examples 60, 61, 62 or 63, wherein the middlesupport member is pivotally coupled to the portion of the surgical endeffector for pivotal travel relative thereto about a pivot axis. Themiddle support member is coupled to the elongate shaft assembly forpivotal and axial travel relative thereto.

Example 65

The surgical instrument of Example 64, wherein the middle support memberis pinned to the elongate shaft assembly by a proximal pin that extendsthrough an elongate slot in the middle support member.

Example 66

The surgical instrument of Examples 60, 61, 62, 63, 64 or 65, whereinthe elongate shaft assembly comprises a distal spine comprising a distalspine pocket that is configured to movably receive therein a proximalnose portion of the proximal top member therein.

Example 67

The surgical instrument of Examples 60, 61, 62, 63, 64, 65 or 66,wherein the portion of the surgical end effector comprises a channelpocket that is configured to movably receive therein a distal noseportion of the distal top member therein.

Example 68

The surgical instrument of Examples 60, 61, 62, 63, 64, 65, 66 or 67,wherein the portion of the surgical end effector comprises an elongatechannel that is configured to operably support a surgical staplecartridge therein.

Example 69

The surgical instrument of Example 68, further comprising an anvilsupported relative to the elongate channel such that one of the anviland the elongate channel is selectively movable relative to the otherone of the anvil and the elongate channel between open and closedpositions.

Example 70

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis and comprises right and left opposing shaft notchesthat are formed in a distal end thereof. A surgical end effector isoperably coupled to the elongate shaft assembly by an articulation jointsuch that the surgical end effector is selectively articulatablerelative to the elongate shaft assembly about an articulation axis thatis transverse to the shaft axis. A longitudinally movable flexiblefiring beam is configured to flexibly traverse the articulation jointand is selectively axially movable from a starting position to an endingposition within the surgical end effector. A middle support member ismovably coupled to the elongate shaft assembly and a portion of thesurgical end effector. The middle support member comprises a middle bodyportion that includes right and left opposing support notches that areformed in a distal end thereof and a firing beam slot that is configuredto movably support lateral side portions of the longitudinally movableflexible firing beam traversing the articulation joint. A pivot link isconfigured to laterally support side portions of the longitudinallymovable flexible firing beam traversing the articulation joint. Thepivot link comprises a proximally protruding proximal nose portion thatis configured to movably engage either one of the right and leftopposing shaft notches as the longitudinally movable flexible firingbeam flexes in response to articulation of the surgical end effectorabout the articulation axis. A distally protruding distal nose portionis configured to movably engage either one of the right and leftopposing support notches in the movable support member as thelongitudinally movable flexible firing beam flexes in response toarticulation of the surgical end effector about the articulation axis.

Example 71

The surgical instrument of Example 70, wherein the pivot link furthercomprises a first lateral support wall that is adjacent to one of thelateral side portions of the longitudinally movable flexible firing beamand a second lateral support wall that is adjacent to another one of thelateral side portions of the longitudinally movable flexible firingbeam.

Example 72

The surgical instrument of Example 71, wherein the first lateral supportwall includes a first arcuate surface that faces one of the lateral sideportions of the longitudinally movable flexible firing beam and whereinthe second lateral support wall includes a second arcuate surface thatfaces another one of the another lateral side portions of thelongitudinally movable flexible firing beam.

Example 73

The surgical instrument of Examples 71 or 72, further comprising a firstcompression band that extends between the one lateral side portion ofthe longitudinally movable flexible firing beam and the first lateralsupport wall. The first compression band comprises a first distal endthat is supported on the surgical end effector and a first proximal endthat is movably supported on the elongate shaft assembly. A secondcompression band extends between the another lateral side portion of thelongitudinally movable flexible firing beam and the second lateralsupport wall. The second compression band comprises a second distal endthat is supported on the surgical end effector and a second proximal endthat is movably supported on the elongate shaft assembly.

Example 74

The surgical instrument of Example 73, further comprising a thirdcompression band that extends between the one lateral side portion ofthe longitudinally movable flexible firing beam and the firstcompression band. The third compression band comprises a third distalend that is supported on the surgical end effector and a third proximalend that is movably supported on the elongate shaft assembly. A fourthcompression band extends between the another lateral side portion of thelongitudinally movable flexible firing beam and the second compressionband. The fourth compression band comprises a fourth distal end that issupported on the surgical end effector and a fourth proximal end that ismovably supported on the elongate shaft assembly.

Example 75

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is operably coupled to theelongate shaft assembly by an articulation joint such that the surgicalend effector is selectively articulatable relative to the elongate shaftassembly about an articulation axis that is transverse to the shaftaxis. A longitudinally movable flexible firing beam is configured toflexibly traverse the articulation joint and is selectively axiallymovable from a starting position to an ending position within thesurgical end effector. A middle support member is movably coupled to theelongate shaft assembly for axial and pivotal travel relative theretoand is pivotally coupled to the surgical end effector. The surgicalinstrument further comprises a U-shaped proximal support link comprisesa proximal top member and two proximal side members. The U-shapedproximal support link extends over a proximal portion of thelongitudinally movable flexible firing beam such that one of theproximal side members is adjacent one lateral side of the proximalportion of the longitudinally movable flexible firing beam and anotherone of the proximal side members is adjacent another lateral side of theproximal portion of the longitudinally movable flexible firing beam. Theproximal top member movably interfaces with the middle support member.The surgical instrument further comprises a U-shaped distal support linkthat comprises a distal top member and two distal side members. TheU-shaped distal support link extends over a distal portion of thelongitudinally movable flexible firing beam such that one of the distalside members is adjacent one lateral side of the distal portion of thelongitudinally movable flexible firing beam and another one of thedistal side members is adjacent another lateral side of the distalportion of the longitudinally movable flexible firing beam. The distaltop member movably interfaces with the middle support member.

Example 76

The surgical instrument of Example 75, wherein the proximal top membermovably interfaces with the elongate shaft assembly and wherein thedistal top member movably interfaces with a portion of the surgical endeffector.

Example 77

The surgical instrument of Examples 75 or 76, wherein the proximal topmember comprises a first proximally protruding proximal nose portionthat movably extends into a distal pocket formed in the elongate shaftassembly and a first distally protruding distal nose portion thatmovably extends into a proximal pocket in the middle support member. Thedistal top member comprises a second proximally protruding proximal noseportion that movably extends into a distal pocket in the middle supportmember and a second distally protruding distal nose portion that movablyextends into a channel pocket in the surgical end effector.

Example 78

The surgical instrument of Examples 75, 76 or 77, wherein one of the twoproximal side members comprises a proximal arcuate surface that facesthe one lateral side of the proximal portion of the longitudinallymovable flexible firing beam. The another one of the proximal sidemembers includes another proximal arcuate surface that faces the anotherlateral side of the proximal portion of the longitudinally movableflexible firing beam. One of the two distal side members comprises adistal arcuate surface that faces the one lateral side of the distalportion of the longitudinally movable flexible firing beam. Another oneof the distal side members comprises another distal arcuate surface thatfaces the another distal side of the distal portion of thelongitudinally movable flexible firing beam.

Example 79

The surgical instrument of Examples 75, 76, 77 or 78, wherein the middlesupport member is movably coupled to an elongate channel of the surgicalend effector that is configured to operably support a surgical staplecartridge therein.

Example 80

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is operably coupled to theelongate shaft assembly by an articulation joint such that the surgicalend effector is selectively articulatable relative to the elongate shaftassembly about an articulation axis that is transverse to the shaftaxis. A central firing beam support member extends across thearticulation joint and comprises a distal end that is coupled to thesurgical end effector and a proximal end that is attached to theelongate shaft assembly. A longitudinally movable flexible firing beamassembly is configured to flexibly traverse the articulation joint andis selectively axially movable from a starting position to an endingposition within the surgical end effector. The longitudinally movableflexible firing beam assembly comprises a plurality of beam layers thatare supported relative to each other such that at least one of the beamlayers is configured to movably pass on one lateral side of the centralfiring beam support member and at least one other of the beam layers isconfigured to movably pass on another lateral side of the central firingbeam support member. A plurality of lateral load carrying memberscorrespond to the central firing beam support and are supported onportions of the least one of the beam layers that are configured tomovably pass on the one lateral side of the central firing beam supportmember and the at least one other of the beam layers that are configuredto movably pass on the another lateral side of the central firing beamsupport member.

Example 81

The surgical instrument of Example 80, wherein at least one of the beamlayers that is configured to movably pass on the one lateral side of thecentral firing beam support member comprises two of the beam layers andwherein the at least one other of the beam layers that is configured topass on the another lateral side of the central firing beam supportmember comprises two of the other beam layers.

Example 82

The surgical instrument of Examples 80 or 81, wherein the lateral loadcarrying members are movable relative to each other.

Example 83

The surgical instrument of Examples 80, 81 or 82, wherein each of thelateral load carrying members comprises an axial passage for movablyreceiving the portions of the least one of the beam layers that areconfigured to movably pass on the one lateral side of the central firingbeam support member and the at least one other of the beam layers thatare configured to movably pass on the another lateral side of thecentral firing beam support member.

Example 84

The surgical instrument of Examples 80, 81, 82 or 83, wherein a portionof the surgical end effector that is coupled to the elongate shaftassembly by the articulation joint comprises an elongate channel that isconfigured to operably support a surgical staple cartridge therein.

Example 85

The surgical instrument of Example 84, further comprising an anvil thatis supported relative to the elongate channel such that one of the anviland the elongate channel is selectively movable relative to the otherone of the anvil and the elongate channel between open and closedpositions.

Example 86

The surgical instrument of Examples 80, 81, 82, 83, 84 or 85, whereinthe distal end of the central firing beam support member protrudes belowa bottom surface of the longitudinally movable flexible firing beamassembly to be attached to the surgical end effector and the proximalend of the central firing beam support member protrudes above an uppersurface of the longitudinally movable flexible firing beam assembly tobe attached to the elongate shaft assembly.

Example 87

The surgical instrument of Example 86, wherein the distal end of thecentral firing beam support member is pinned to an elongate channel ofthe surgical end effector and wherein the proximal end of the centralfiring beam support member is pinned to a spine portion of the elongateshaft assembly.

Example 88

The surgical instrument of Examples 80, 81, 82, 83, 84, 85, 86 or 87,wherein at least two of the plurality of the lateral load carryingmembers each include arcuate end surfaces and are arranged on theportions of the least one of the beam layers that are configured tomovably pass on the one lateral side of the central firing beam supportmember and the at least one other of the beam layers that are configuredto movably pass on the another lateral side of the central firing beamsupport member such that one of the arcuate end surfaces on one of theat least two lateral load carrying members is adjacent another one ofthe arcuate end surfaces on another one of the at least two lateral loadcarrying members.

Example 89

The surgical instrument of Example 83, wherein each axial passagecomprises a pair of spaced internal arcuate surfaces that are configuredto facilitate pivotal movement of each of the lateral load carryingmembers on the longitudinally movable flexible firing beam.

Example 90

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is operably coupled to theelongate shaft assembly by an articulation joint such that the surgicalend effector is selectively articulatable relative to the elongate shaftassembly about an articulation axis that is transverse to the shaftaxis. A central firing beam support member is axially aligned along theshaft axis and extends across the articulation joint. The central firingbeam support member comprises a distal end that is coupled to thesurgical end effector and a proximal end that is attached to theelongate shaft assembly. The surgical instrument further comprises alongitudinally movable flexible firing beam assembly that comprises aplurality of beam layers that are configured to axially pass the centralfiring beam support member such that at least one of the beam layerspasses on each lateral side of the central firing beam support member asthe longitudinally movable flexible firing beam assembly traverses thearticulation joint. Means are movably supported on the longitudinallymovable flexible firing beam for laterally supporting a portion of thelongitudinally movable flexible firing beam traversing the articulationjoint when the surgical end effector is articulated about thearticulation axis.

Example 91

The surgical instrument of Example 90, wherein the distal end of thecentral firing beam support member protrudes below a bottom surface ofthe longitudinally movable flexible firing beam assembly to be attachedto the surgical end effector. The proximal end of the central firingbeam support member protrudes above an upper surface of thelongitudinally movable flexible firing beam assembly to be attached tothe elongate shaft assembly.

Example 92

The surgical instrument of Examples 90 or 91, wherein a portion of thesurgical end effector that is coupled to the elongate shaft assembly bythe articulation joint comprises an elongate channel that is configuredto operably support a surgical staple cartridge therein.

Example 93

The surgical instrument of Example 92, further comprising an anvil thatis supported relative to the elongate channel such that one of the anviland the elongate channel is selectively movable relative to the otherone of the anvil and the elongate channel between open and closedpositions.

Example 94

The surgical instrument of Examples 90, 91, 92 or 93 further comprisinga firing member attached to a distal end of the longitudinally movableflexible firing beam assembly.

Example 95

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is operably coupled to theelongate shaft assembly by an articulation joint such that the surgicalend effector is selectively articulatable relative to the elongate shaftassembly about an articulation axis that is transverse to the shaftaxis. A central firing beam support member is axially aligned along theshaft axis and extends across the articulation joint. The central firingbeam support member comprises a distal end that is coupled to thesurgical end effector and a proximal end that is attached to theelongate shaft assembly. The surgical instrument further comprises alongitudinally movable flexible firing beam assembly that comprises aplurality of beam layers such that as the longitudinally movableflexible firing beam assembly is distally advanced, the longitudinallymovable flexible firing beam assembly is bifurcated by the centralfiring beam support member so that portions of the longitudinallymovable flexible firing beam assembly pass adjacent to each lateral sideof the central firing beam support member

Example 96

The surgical instrument of Example 95, further comprising means that aremovably supported on the longitudinally movable flexible firing beamassembly for laterally supporting a portion of the longitudinallymovable flexible firing beam assembly traversing the articulation jointwhen the surgical end effector is articulated about the articulationaxis.

Example 97

The surgical instrument of Example 95, wherein means for laterallysupporting comprises a plurality of lateral load carrying members thatare supported on the longitudinally movable flexible firing beamassembly. Each of the lateral load carrying members is independentlymovable on the longitudinally movable flexible firing beam assembly.

Example 98

The surgical instrument of Examples 95, 96 or 97, wherein a distal endof the central firing beam support member protrudes below a bottomsurface of the longitudinally movable flexible firing beam assembly tobe attached to the surgical end effector and the proximal end of thecentral firing beam support member protrudes above an upper surface ofthe longitudinally movable flexible firing beam assembly to be attachedto the elongate shaft assembly.

Example 99

The surgical instrument of Example 97, wherein each of the lateral loadcarrying members includes an axial passage therethrough that comprises apair of spaced internal arcuate surfaces to facilitate pivotal movementof each lateral load carrying member on the longitudinally movableflexible firing beam assembly.

Example 100

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that comprises a first distal articulation driverthat is supported for selective longitudinal travel in a distaldirection and a proximal direction in response to correspondingarticulation motions applied thereto. The first distal articulationdriver is operably coupled to the surgical end effector. Thearticulation system further comprises a second distal articulationdriver that is supported for longitudinal travel in the distal andproximal directions. The second distal articulation driver is operablycoupled to the surgical end effector. At least one pinion gear is inmeshing engagement with the first distal articulation driver and thesecond distal articulation driver such that when the first distalarticulation driver is moved in the distal direction, the at least onepinion gear is configured to drive the second distal articulation driverin the proximal direction to articulate the surgical end effector aboutthe articulation axis in a first articulation direction and when thefirst distal articulation driver is moved in the proximal direction, theat least one pinion gear drives the second distal articulation driver inthe distal direction to articulate the surgical end effector about thearticulation axis in a second articulation direction that is opposite tothe first articulation direction.

Example 101

The surgical instrument of Example 100, wherein the first distalarticulation driver is pivotally coupled to the surgical end effectorand, wherein the second distal articulation driver is pivotally attachedto the surgical end effector.

Example 102

The surgical instrument of Examples 100 or 101, wherein the first distalarticulation driver is attached to the surgical end effector by a firstmovable coupler and wherein the second distal articulation driver isattached to the surgical end effector by a second movable coupler.

Example 103

The surgical instrument of Example 102, wherein the first movablecoupler is attached to the first distal articulation driver by a firstball joint and, wherein the second distal articulation driver isattached to the second movable coupler by a second ball joint.

Example 104

The surgical instrument of Examples 100, 101, 102, or 103, furthercomprising means for selectively locking the surgical end effector in aplurality of articulated positions relative to the elongate shaftassembly.

Example 105

The surgical instrument of Example 104, wherein the means forselectively locking comprises means for selectively preventing thedistal articulation driver from longitudinally moving in the proximaland distal directions.

Example 106

The surgical instrument of Examples 104 or 105, further comprising aproximal articulation driver that operably interfaces with a source ofproximal and distal articulation motions. The proximal articulationdriver operably interfaces with the means for selectively preventing toselectively unlock the means for selectively preventing and cause themeans for selectively preventing to apply the proximal and distalarticulation motions to the first distal articulation driver.

Example 107

The surgical instrument of Examples 100, 101, 102, 103, 104, 105 or 106,wherein a portion of the surgical end effector that is pivotally coupledto the elongate shaft assembly comprises an elongate channel that isconfigured to operably support a surgical staple cartridge therein.

Example 108

The surgical stapling instrument of Example 107, further comprising ananvil that is supported relative to the elongate channel such that oneof the anvil and the elongate channel is selectively movable relative tothe other one of the anvil and the elongate channel between open andclosed positions.

Example 109

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that comprises a first distal articulation driverthat is supported for selective longitudinal travel in a distaldirection and in a proximal direction in response to correspondingarticulation motions applied thereto. The first distal articulationdriver is operably coupled to the surgical end effector. Thearticulation system further comprises a second distal articulationdriver that comprises an endless member that operably interfaces withthe first distal articulation driver and the surgical end effector. Theendless member is supported on the elongate shaft assembly for selectiverotational travel in response to a longitudinal travel of the firstdistal articulation driver such that when the first distal articulationdriver is moved in the distal direction, the endless member causes thesurgical end effector to articulate about the articulation axis in afirst articulation direction and when the first distal articulationdriver is moved in the proximal direction, the endless member causes thesurgical end effector to articulate about the articulation axis in asecond articulation direction that is opposite to the first articulationdirection.

Example 110

The surgical instrument of Example 109, wherein the endless member isrotatably supported on a proximal pulley mounted to the elongate shaftassembly and a distal pulley on the surgical end effector.

Example 111

The surgical instrument of Examples 110 wherein the endless member isoperably attached to the distal pulley by an attachment lug attached tothe endless member and configured to be received in an attachment pocketin the distal pulley.

Example 112

The surgical instrument of Examples 109, 110 or 111, wherein the endlessmember comprises a length of cable including a first lug attached to afirst cable end and a second lug attached to a second cable end. Thesecond lug is also attached to the first lug to form the endless member.

Example 113

The surgical instrument of Example 112, wherein the distal articulationdriver comprises first and second cradles for receiving the first andsecond lugs therein.

Example 114

The surgical instrument of Examples 110 or 111, wherein the distalpulley is formed on an elongate channel of the surgical end effector.The elongate channel being configured to operably support a surgicalstaple cartridge therein.

Example 115

The surgical instrument of Examples 110 or 111, wherein the distalpulley is formed on an end effector mounting assembly that is attachedto an elongate channel portion of the surgical end effector. Theelongate channel is configured to operably support a surgical staplecartridge therein.

Example 116

The surgical instrument of Examples 114 or 115, further comprising ananvil supported relative to the elongate channel such that one of theanvil and the elongate channel is selectively movable relative to theother one of the anvil and the elongate channel between open and closedpositions.

Example 117

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system comprising a first distal articulation driver thatis supported for selective longitudinal travel in a distal direction andin a proximal direction in response to corresponding articulationmotions applied thereto. The first distal articulation driver isoperably coupled to the surgical end effector. The articulation systemfurther comprises a second distal articulation driver that is supportedfor longitudinal travel in the distal and proximal directions. Thesecond distal articulation driver is operably coupled to the surgicalend effector. The articulation system further comprises drive means thatinterfaces with the first distal articulation driver and the seconddistal articulation driver such that when the first distal articulationdriver is moved in the distal direction, the drive means drives thesecond distal articulation driver in the proximal direction toarticulate the surgical end effector about the articulation axis in afirst articulation direction and when the first distal articulationdriver is moved in the proximal direction, the drive means drives thesecond distal articulation driver in the distal direction to articulatethe surgical end effector about the articulation axis in a secondarticulation direction that is opposite to the first articulationdirection.

Example 118

The surgical instrument of Example 117, wherein the surgical endeffector comprises an elongate channel that is configured to operablysupport a surgical staple cartridge therein. An anvil is supportedrelative to the elongate channel such that one of the anvil and theelongate channel is selectively movable relative to the other one of theanvil and the elongate channel between open and closed positions.

Example 119

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that comprises a rotary articulation member that issupported for rotational travel about a rotary axis that is transverseto the shaft axis. A first distal articulation driver assembly operablyinterfaces with the rotary articulation member and is supported forselective longitudinal travel in a distal direction and in a proximaldirection in response to corresponding articulation motions appliedthereto by the rotary articulation member. The first distal articulationdriver assembly operably interfaces with the surgical end effector. Asecond distal articulation driver assembly operably interfaces with therotary articulation member and is supported for longitudinal travel inthe distal and proximal directions. The second distal articulationdriver assembly operably interfaces with the surgical end effector. Thearticulation system further comprises means for selectively rotating therotary articulation member in first and second rotary directions aboutthe rotary axis such that when the rotary articulation member is rotatedin the first rotary direction by the means for selectively rotating, thefirst distal articulation driver assembly is longitudinally driven inthe distal direction and the second distal articulation driver issimultaneously moved in the proximal direction to articulate thesurgical end effector about the articulation axis in a firstarticulation direction and when the rotary articulation member isrotated in the second rotary direction by the means for selectivelyrotating, the first distal articulation driver assembly islongitudinally driven in the proximal direction and the second distalarticulation driver assembly is simultaneously moved in the distaldirection to articulate the surgical end effector about the articulationaxis in a second articulation direction about the articulation axis thatis opposite to the first articulation direction.

Example 120

The surgical instrument of Example 119, wherein the rotary articulationmember comprises a rotary articulation disc and wherein the first distalarticulation driver assembly comprises a first articulation driverportion that is movably supported within a first articulation slot inthe rotary articulation disc and wherein the second distal articulationdriver assembly comprises a second articulation driver portion movablysupported within a second articulation slot in the rotary articulationdisc.

Example 121

The surgical instrument of Examples 119 or 120, further comprising afirst biasing member that interacts with the first articulation driverportion to bias the first distal articulation driver assembly into afirst neutral articulation position when the means for selectivelyrotated is unactuated. A second biasing member interacts with the secondarticulation driver portion to bias the second distal articulationdriver assembly into a second neutral articulation position when themeans for selectively rotated is unactuated.

Example 122

The surgical instrument of Examples 119, 120 or 121, wherein the firstdistal articulation driver assembly comprises a first articulation linkthat movably interfacing with the rotary articulation member. A firstarticulation connector is pivotally coupled to the first articulationlink. The first articulation connector operably interfaces with thesurgical end effector. The second distal articulation assembly comprisesa second articulation link that movably interfaces with the rotaryarticulation member and a second articulation member is pivotallycoupled to the second articulation link and operably interfaces with thesurgical end effector.

Example 123

The surgical instrument of Example 122, wherein the first distalarticulation driver assembly further comprises an articulation lockassembly that operably interfaces with the first articulation connectorand the surgical end effector and is configured to selectively lock thesurgical end effector in a plurality of articulated positions relativeto the elongate shaft assembly.

Example 124

The surgical instrument of Example 123, further comprising a firstarticulation member that operably interfaces with the articulation lockassembly and the surgical end effector.

Example 125

The surgical instrument of Example 124 wherein the first articulationmember is coupled to the surgical end effector by a first movablecoupler and wherein the second articulation member is coupled to thesurgical end effector by a second movable coupler.

Example 126

The surgical instrument of Example 126, wherein the first articulationmember is coupled to the first movable coupler by a first ball joint andwherein the second articulation member is coupled to the second movablecoupler by a second ball joint.

Example 127

The surgical instrument of Examples 119, 120, 121, 122, 123, 124, 125 or126, wherein the means for selectively rotating comprises a motor inmeshing engagement with the rotary articulation member.

Example 128

The surgical instrument of Examples 119, 120, 121, 122, 123, 124, 125 or126, further comprising a longitudinally movable firing member andwherein the means for selectively rotating comprises a motor that isconfigured to generate rotary output motions and a switching arrangementthat operably interfaces with the motor and the longitudinally movablefiring member and an articulation drive link that is in operableengagement with the rotary articulation member. The switchingarrangement is configured to move between a first position whereinactuation of the motor results in applications of axial articulationmotions to the articulation drive link to thereby cause the rotaryarticulation member to rotate about the rotary axis and a secondposition wherein actuation of the motor results in applications of axialfiring motions to the longitudinally movable firing member

Example 129

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that comprises a rotary driver member that issupported for rotation travel about a rotary axis that is transverse tothe shaft axis. A rotary driven member is supported for rotationaltravel relative to the rotary driver member about the rotary axis. Therotary driven member operably interfaces with the rotary drive membersuch that application of articulation control motions to the rotarydriver member causes the rotary driven member to rotate about the rotaryaxis. A first distal articulation driver assembly operably interfaceswith at least the rotary driven member and is supported for selectivelongitudinal travel in a distal direction and a proximal direction inresponse to rotation of at least the first rotary driven member. Thefirst distal articulation driver assembly operably interfaces with thesurgical end effector. The articulation system further comprises asecond distal articulation driver assembly that operably interfaces withat least the rotary driven member and is supported for longitudinaltravel in the distal and proximal directions. The second distalarticulation driver assembly operably interfaces with the surgical endeffector. The articulation system further comprises means forselectively applying the articulation control motions to the rotarydriver member to cause the rotary driver member to rotate about therotary axis and to thereby cause the rotary driven member to rotateabout the rotary axis such that when the rotary driven member rotates ina first rotary direction, the first distal articulation driver assemblyis longitudinally driven in the distal direction and the second distalarticulation driver is simultaneously moved in the proximal direction toarticulate the surgical end effector about the articulation axis in afirst articulation direction and when the rotary driven member isrotated in a second rotary direction, the first distal articulationdriver assembly is longitudinally driven in the proximal direction andthe second distal articulation driver assembly is simultaneously movedin the distal direction to articulate the surgical end effector aboutthe articulation axis in a second articulation direction about thearticulation axis that is opposite to the first articulation direction.

Example 130

The surgical instrument of Example 129, wherein the rotary driver membercomprises a rotary driver articulation disc and wherein the secondrotary driven member comprises a rotary driven articulation disc andwherein the first distal articulation driver assembly comprises a firstarticulation driver portion that is movably supported withincorresponding first articulation slots in each of the rotary driverarticulation disc and the rotary driven articulation disc and whereinthe second distal articulation driver assembly comprises a secondarticulation driver portion movably supported within correspondingsecond articulation slots in each of the rotary driver articulation discand the rotary driven articulation disc.

Example 131

The surgical instrument of Examples 129 or 130 wherein the first distalarticulation driver assembly comprises a first articulation link thatmovably interfaces with the rotary driver member and the rotary drivenmember and a first articulation member that is pivotally coupled to thefirst articulation link. The first articulation member operablyinterfaces with the surgical end effector. The second distalarticulation assembly comprises a second articulation link that movablyinterfaces with the rotary drive member and the rotary driven member anda second articulation member is pivotally coupled to the secondarticulation link and operably interfaces with the surgical endeffector.

Example 132

The surgical instrument of Example 131, wherein the first articulationmember is coupled to the surgical end effector by a first movablecoupler and the second articulation member is coupled to the surgicalend effector by a second movable coupler.

Example 133

The surgical instrument of Example 132, wherein the first articulationmember is coupled to the first movable coupler by a first ball joint andwherein the second articulation member is coupled to the second movablecoupler by a second ball joint.

Example 134

The surgical instrument of Examples 129, 130, 131, 132 or 133, whereinthe means for selectively applying comprises a motor in meshingengagement with the rotary driver member.

Example 135

The surgical instrument of Examples 129, 130, 131, 132 or 133, furthercomprising a longitudinally movable firing member and wherein the meansfor selectively applying comprises a motor that is configured togenerate rotary output motions. The means for selectively applyingfurther comprising a switching arrangement that operably interfaces withthe motor and the longitudinally movable firing member and anarticulation drive link that is in operable engagement with the rotarydriver member. The switching arrangement is configured to move between afirst position wherein actuation of the motor results in applications ofaxial articulation motions to the articulation drive link to therebycause the rotary driver member to rotate about the rotary axis and asecond position wherein actuation of the motor results in applicationsof axial firing motions to the longitudinally movable firing member.

Example 136

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that comprises means that is operably coupled to thesurgical end effector for articulating the surgical end effector aboutthe articulation axis and means for selectively generating rotarymotions. The articulation system further comprises a rotary member thatoperably interfaces with the means for generating a rotary motion andthe means for articulating such that application of the rotary motionsby the means for selectively generating to the rotary member causes themeans for articulating to simultaneously apply opposed axialarticulation motions to the surgical end effector wherein one of theopposed axial motions is applied to at a point of attachment on thesurgical end effector that is laterally offset to one lateral side ofthe articulation axis and wherein the other opposed axial motion isapplied to another point of attachment on the surgical end effector thatis laterally offset on another lateral side of the articulation axis.

The entire disclosures of:

U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,which issued on Apr. 4, 1995;

U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21,2006;

U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued onSep. 9, 2008;

U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec.16, 2008;

U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;

U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, whichissued on Jul. 13, 2010;

U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE, which issued on Mar. 12, 2013;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTINGAND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;

U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FORA SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, nowU.S. Pat. No. 7,980,443;

U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICALCUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,now U.S. Pat. No. 8,608,045;

U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROLASSEMBLY, filed Dec. 24, 2009; now U.S. Pat. No. 8,220,688;

U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE,filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;

U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLINGINSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, filed May 27,2011, now U.S. Pat. No. 9,072,535;

U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012,now U.S. Pat. No. 9,101,358;

U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Pat.No. 9,345,481;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentApplication Publication No. 2014/0263552;

U.S. Patent Application Publication No. 2007/0175955, entitled SURGICALCUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM,filed Jan. 31, 2006; and

U.S. Patent Application Publication No. 2010/0264194, entitled SURGICALSTAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22,2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by referenceherein.

Although the various embodiments of the devices have been describedherein in connection with certain disclosed embodiments, manymodifications and variations to those embodiments may be implemented.Also, where materials are disclosed for certain components, othermaterials may be used. Furthermore, according to various embodiments, asingle component may be replaced by multiple components, and multiplecomponents may be replaced by a single component, to perform a givenfunction or functions. The foregoing description and following claimsare intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

By way of example only, aspects described herein may be processed beforesurgery. First, a new or used instrument may be obtained and whennecessary cleaned. The instrument may then be sterilized. In onesterilization technique, the instrument is placed in a closed and sealedcontainer, such as a plastic or TYVEK bag. The container and instrumentmay then be placed in a field of radiation that can penetrate thecontainer, such as gamma radiation, x-rays, or high-energy electrons.The radiation may kill bacteria on the instrument and in the container.The sterilized instrument may then be stored in the sterile container.The sealed container may keep the instrument sterile until it is openedin a medical facility. A device also may be sterilized using any othertechnique known in the art, including but not limited to beta or gammaradiation, ethylene oxide, plasma peroxide, or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical instrument comprising: an elongateshaft assembly defining a shaft axis; a surgical end effector pivotallycoupled to said elongate shaft assembly for selective articulationrelative to said elongate shaft assembly about an articulation axis thatis transverse to said shaft axis; and an articulation system,comprising: a first distal articulation driver supported for selectivelongitudinal travel in a distal direction and a proximal direction inresponse to corresponding articulation motions applied thereto, saidfirst distal articulation driver operably coupled to said surgical endeffector; a second distal articulation driver supported for longitudinaltravel in said distal and proximal directions, said second distalarticulation driver operably coupled to said surgical end effector; andat least one pinion gear in meshing engagement with said first distalarticulation driver and said second distal articulation driver such thatwhen said first distal articulation driver is moved in said distaldirection, said at least one pinion gear drives said second distalarticulation driver in said proximal direction to articulate saidsurgical end effector about said articulation axis in a firstarticulation direction and when said first distal articulation driver ismoved in said proximal direction, said at least one pinion gear drivessaid second distal articulation driver in said distal direction toarticulate said surgical end effector about said articulation axis in asecond articulation direction that is opposite to said firstarticulation direction.
 2. The surgical instrument of claim 1, whereinsaid first distal articulation driver is pivotally coupled to saidsurgical end effector and, wherein said second distal articulationdriver is pivotally attached to said surgical end effector.
 3. Thesurgical instrument of claim 1, wherein said first distal articulationdriver is attached to said surgical end effector by a first movablecoupler and wherein said second distal articulation driver is attachedto said surgical end effector by a second movable coupler.
 4. Thesurgical instrument of claim 3, wherein said first movable coupler isattached to said first distal articulation driver by a first ball jointand, wherein said second distal articulation driver is attached to saidsecond movable coupler by a second ball joint.
 5. The surgicalinstrument of claim 1, further comprising means for selectively lockingsaid surgical end effector in a plurality of articulated positionsrelative to said elongate shaft assembly.
 6. The surgical instrument ofclaim 5, wherein said means for selectively locking comprises means forselectively preventing said distal articulation driver fromlongitudinally moving in said proximal and distal directions.
 7. Thesurgical instrument of claim 6, further comprising a proximalarticulation driver operably interfacing with a source of proximal anddistal articulation motions, said proximal articulation driver operablyinterfacing with said means for selectively preventing to selectivelyunlock said means for selectively preventing and cause said means forselectively preventing to apply said proximal and distal articulationmotions to said first distal articulation driver.
 8. The surgicalinstrument of claim 1, wherein a portion of said surgical end effectorthat is pivotally coupled to said elongate shaft assembly comprises anelongate channel that is configured to operably support a surgicalstaple cartridge therein.
 9. The surgical instrument of claim 8, furthercomprising an anvil supported relative to said elongate channel suchthat one of said anvil and said elongate channel is selectively movablerelative to the other one of said anvil and said elongate channelbetween open and closed positions.
 10. A surgical instrument comprising:an elongate shaft assembly defining a shaft axis; a surgical endeffector pivotally coupled to said elongate shaft assembly for selectivearticulation relative to said elongate shaft assembly about anarticulation axis that is transverse to said shaft axis; an articulationsystem, comprising: a first distal articulation driver supported forselective longitudinal travel in a distal direction and a proximaldirection in response to corresponding articulation motions appliedthereto, said first distal articulation driver operably coupled to saidsurgical end effector; and a second distal articulation drivercomprising an endless member operably interfacing with said first distalarticulation driver and said surgical end effector, said endless membersupported on said elongate shaft assembly for selective rotationaltravel in response to longitudinal travel of said first distalarticulation driver such that when said first distal articulation driveris moved in said distal direction, said endless member causes saidsurgical end effector to articulate about said articulation axis in afirst articulation direction and when said first distal articulationdriver is moved in said proximal direction, said endless member causessaid surgical end effector to articulate about said articulation axis ina second articulation direction that is opposite to said firstarticulation direction.
 11. The surgical instrument of claim 10, whereinsaid endless member is rotatably supported on a proximal pulley mountedto said elongate shaft assembly and a distal pulley on said surgical endeffector.
 12. The surgical instrument of claim 11, wherein said endlessmember is operably attached to said distal pulley by an attachment lugattached to said endless member and configured to be received in anattachment pocket in said distal pulley.
 13. The surgical instrument ofclaim 10, wherein said endless member comprises a length of cableincluding a first lug attached to a first cable end and a second lugattached to a second cable end, said second lug also attached to saidfirst lug to form said endless member.
 14. The surgical instrument ofclaim 13, wherein said distal articulation driver comprises first andsecond cradles for receiving said first and second lugs therein.
 15. Thesurgical instrument of claim 11, wherein said distal pulley is formed onan elongate channel of said surgical end effector, said elongate channelconfigured to operably support a surgical staple cartridge therein. 16.The surgical instrument of claim 11, wherein said distal pulley isformed on an end effector mounting assembly attached to an elongatechannel portion of said surgical end effector, said elongate channelconfigured to operably support a surgical staple cartridge therein. 17.The surgical instrument of claim 15, further comprising an anvilsupported relative to said elongate channel such that one of said anviland said elongate channel is selectively movable relative to the otherone of said anvil and said elongate channel between open and closedpositions.
 18. The surgical instrument of claim 16, further comprisingan anvil supported relative to said elongate channel such that one ofsaid anvil and said elongate channel is selectively movable relative tothe other one of said anvil and said elongate channel between open andclosed positions.
 19. A surgical instrument comprising: an elongateshaft assembly defining a shaft axis; a surgical end effector pivotallycoupled to said elongate shaft assembly for selective articulationrelative to said elongate shaft assembly about an articulation axis thatis transverse to said shaft axis; an articulation system, comprising: afirst distal articulation driver supported for selective longitudinaltravel in a distal direction and a proximal direction in response tocorresponding articulation motions applied thereto, said first distalarticulation driver operably coupled to said surgical end effector; asecond distal articulation driver supported for longitudinal travel insaid distal and proximal directions, said second distal articulationdriver operably coupled to said surgical end effector; and drive meansinterfacing with said first distal articulation driver and said seconddistal articulation driver such that when said first distal articulationdriver is moved in said distal direction, said drive means drives saidsecond distal articulation driver in said proximal direction toarticulate said surgical end effector about said articulation axis in afirst articulation direction and when said first distal articulationdriver is moved in said proximal direction, said drive means drives saidsecond distal articulation driver in said distal direction to articulatesaid surgical end effector about said articulation axis in a secondarticulation direction that is opposite to said first articulationdirection.
 20. The surgical instrument of claim 19, wherein saidsurgical end effector comprises: an elongate channel configured tooperably support a surgical staple cartridge therein; and an anvilsupported relative to said elongate channel such that one of said anviland said elongate channel is selectively movable relative to the otherone of said anvil and said elongate channel between open and closedpositions.